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[jsk_pr2_startup] launch gdrive_server.launch in pr2.launch #1392

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merged 3 commits into from
Oct 5, 2021
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[jsk_pr2_startup] launch gdrive_server.launch in pr2.launch #1392

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e4a4e64
add pr2_gdrive_server.launch
knorth55 Sep 24, 2021
ed98e59
launch gdrive_server on c1 and c2 in pr2.launch
knorth55 Sep 24, 2021
0a5355f
Merge branch 'master' into pr2-gdrive-server
knorth55 Sep 29, 2021
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15 changes: 15 additions & 0 deletions jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/pr2_gdrive_server.launch
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Original file line number Diff line number Diff line change
@@ -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>
18 changes: 18 additions & 0 deletions jsk_pr2_robot/jsk_pr2_startup/pr2.launch
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Expand Up @@ -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"
Expand Down Expand Up @@ -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" />
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