Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

[jsk_robot_startup] Added commits not included in https://github.com/jsk-ros-pkg/jsk_robot/pull/1792 but included in https://github.com/jsk-ros-pkg/jsk_robot/pull/1883 #102

Open
wants to merge 10 commits into
base: ichikura_sample
Choose a base branch
from
Open

[jsk_robot_startup] Added commits not included in https://github.com/jsk-ros-pkg/jsk_robot/pull/1792 but included in https://github.com/jsk-ros-pkg/jsk_robot/pull/1883 #102

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
10 commits
Select commit Hold shift + click to select a range
88cd610
Adopt to fetch1075 default environment
May 31, 2023
ac5c1b7
[jsk_robot_startup] Add override_project_id true
tkmtnt7000 Oct 25, 2023
d22ce4c
[jsk_robot_startup] Add launch_common_logger arg to disable launching…
tkmtnt7000 Oct 25, 2023
d76c2f3
[jsk_robot_startup] save_speech and save_google_chat false
tkmtnt7000 Oct 25, 2023
e251594
[jsk_robot_startup] Comment out lifelog.launch
tkmtnt7000 Oct 25, 2023
c0fc6b5
[jsk_fetch_startup] Launch lifelog.launch as default
tkmtnt7000 Oct 25, 2023
3a341e2
[jsk_robot_startup][jsk_fetch_startup
tkmtnt7000 Oct 25, 2023
1b9a4ad
[jsk_robot_startup] Remove override_project_id arg
tkmtnt7000 Nov 1, 2023
d282929
[jsk_robot_startup] USe launch arg if we use aws mongodb trigger
tkmtnt7000 Nov 1, 2023
65d5ce9
[jsk_robot_startup] Use launch arg if we use lifelog.launch
tkmtnt7000 Nov 1, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 6 additions & 0 deletions jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -73,4 +73,10 @@
- sound_play/SoundRequestActionGoal
- sound_play/SoundRequestActionResult
</rosparam>

<include file="$(find jsk_robot_startup)/launch/lifelog.launch" >
<arg name="image" value="/head_camera/rgb/image_rect_color" />
<arg name="manager" value="mongodb_lifelog_nodelet_manager" />
</include>

</launch>
9 changes: 6 additions & 3 deletions jsk_robot_common/jsk_robot_startup/launch/interaction.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,11 +20,13 @@

<arg name="chat_use_helper" default="true" doc="set false when your program respond to chat" />

<arg name="launch_google_chat" default="true" />
<arg name="launch_gdrive_server" default="true" />

<!-- Google Chat ROS -->
<include file="$(find google_chat_ros)/launch/google_chat.launch">
<include file="$(find google_chat_ros)/launch/google_chat.launch" if="$(arg launch_google_chat)">
<arg name="receiving_mode" value="pubsub" />
<arg name="project_id" value="$(arg project_id)" />
<arg name="override_project_id" value="true" />
<arg name="subscription_id" value="chat-sub" />
<arg name="respawn" value="true" />
<arg name="google_cloud_credentials_json" value="$(arg google_chat_credentials_json)"/>
Expand All @@ -34,6 +36,7 @@

<!-- Dialogflow Client ROS --> <!-- this requires https://github.com/jsk-ros-pkg/jsk_3rdparty/pull/460 -->
<include file="$(find dialogflow_task_executive)/launch/dialogflow_ros.launch">
<arg name="override_project_id" value="true" />
<arg name="credential" value="$(arg google_credentials_json)" />
<arg name="project_id" value="collaborative-remembering-kwit" />
<arg name="enable_hotword" value="false" />
Expand All @@ -46,7 +49,7 @@
</include>

<!-- gdrive_ros -->
<include file="$(find gdrive_ros)/launch/gdrive_server.launch">
<include file="$(find gdrive_ros)/launch/gdrive_server.launch" if="$(arg launch_gdrive_server)">
<arg name="settings_yaml" value="$(find jsk_robot_startup)/auth/pydrive_settings.yaml" />
<arg name="respawn" value="true" />
<arg name="node_name" value="gdrive_ros" />
Expand Down
27 changes: 20 additions & 7 deletions jsk_robot_common/jsk_robot_startup/launch/lifelog.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,14 +20,25 @@
<arg name="logger_save_dialogflow" default="false" />
<arg name="logger_save_app" default="false" />
<arg name="logger_map_frame" default="odom" />
<arg name="logger_save_speech" default="false" />
<arg name="logger_save_google_chat" default="false" />

<arg name="image" default="usb_cam/image_raw" />

<arg name="launch_mongodb" default="false" />
<arg name="launch_common_logger" default="false" />

<arg name="use_aws_auto_checkin_trigger" default="false" />
<arg name="use_aws_detect_faces_trigger" default="false" />

<arg name="manager" default="mongodb_record_nodelet_manager" />

<param name="robot/database" value="jsk_robot_lifelog"/>


<!-- logging database -->
<param name="mongodb_replicate_on_write" value="true" /> <!-- need to set True to query from extra serveres, otherwise it only query from local server -->
<include file="$(find jsk_robot_startup)/lifelog/mongodb.launch">
<include file="$(find jsk_robot_startup)/lifelog/mongodb.launch" if="$(arg launch_mongodb)">
<arg name="use_daemon" value="true"/>
<arg name="port" value="27017" />
<arg name="repl_set_mode" value="false" />
Expand All @@ -44,7 +55,7 @@
</node>
</group>

<include file="$(find jsk_robot_startup)/lifelog/common_logger.launch">
<include file="$(find jsk_robot_startup)/lifelog/common_logger.launch" if="$(arg launch_common_logger)">
<arg name="save_rgb" value="$(arg logger_save_rgb)" />
<arg name="save_depth" value="$(arg logger_save_depth)" />
<arg name="save_tf" value="$(arg logger_save_tf)" />
Expand All @@ -56,11 +67,13 @@
<arg name="save_faces" value="$(arg logger_save_faces)" />
<arg name="save_dialogflow" value="$(arg logger_save_dialogflow)" />
<arg name="save_app" value="$(arg logger_save_app)" />
<arg name="save_speech" value="$(arg logger_save_speech)" />
<arg name="save_google_chat" value="$(arg logger_save_google_chat)" />

<arg name="enable_monitor" value="false" />
<arg name="log_rate" value="1.0" />
<arg name="launch_manager" value="true" />
<arg name="manager" value="mongodb_record_nodelet_manager" />
<arg name="manager" value="$(arg manager)" />
<arg name="map_frame_id" value="$(arg logger_map_frame)" />
<arg name="approximate_sync" value="true"/>
</include>
Expand All @@ -80,10 +93,10 @@
args="--wait-for-start $(arg image)/output/compressed /publish_trigger_mongodb_event std_msgs/Header
'std_msgs.msg.Header(stamp=m.header.stamp, frame_id=m._connection_header[&quot;callerid&quot;])' --import std_msgs" />

<node pkg="topic_tools" type="transform" name="publish_trigger_mongodb_event_aws_auto_checkin"
<node pkg="topic_tools" type="transform" name="publish_trigger_mongodb_event_aws_auto_checkin" if="$(arg use_aws_auto_checkin_trigger)"
args="--wait-for-start /aws_auto_checkin_app/output/class /publish_trigger_mongodb_event std_msgs/Header
'std_msgs.msg.Header(stamp=m.header.stamp, frame_id=m._connection_header[&quot;callerid&quot;])' --import std_msgs" />
<node pkg="topic_tools" type="transform" name="publish_trigger_mongodb_event_aws_detect_faces"
<node pkg="topic_tools" type="transform" name="publish_trigger_mongodb_event_aws_detect_faces" if="$(arg use_aws_detect_faces_trigger)"
args="--wait-for-start /aws_detect_faces/attributes /publish_trigger_mongodb_event std_msgs/Header
'std_msgs.msg.Header(stamp=m.header.stamp, frame_id=m._connection_header[&quot;callerid&quot;])' --import std_msgs" />
<node pkg="topic_tools" type="transform" name="publish_trigger_mongodb_event_dialogflow_client"
Expand All @@ -99,7 +112,7 @@
<!-- republish compressed/throttled image data only when /publish_trigger_mongodb_event is published -->
<node name="camera_throttle_nodelet"
pkg="nodelet" type="nodelet"
args="load jsk_topic_tools/SynchronizedThrottle mongodb_record_nodelet_manager" >
args="load jsk_topic_tools/SynchronizedThrottle $(arg manager)" >
<rosparam subst_value="true">
approximate_sync: true
topics:
Expand All @@ -113,7 +126,7 @@
<include file="$(find jsk_robot_startup)/lifelog/lifelog_rgb_image.launch" >
<arg name="node_name" value="hand_color_logger" />
<arg name="image" value="$(arg image)/compressed/throttled" />
<arg name="manager" value="mongodb_record_nodelet_manager" />
<arg name="manager" value="$(arg manager)" />
</include>
</group>

Expand Down
28 changes: 28 additions & 0 deletions jsk_robot_common/jsk_robot_startup/launch/sample_database_talker.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,28 @@
<launch>
Copy link
Owner

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

これはどこかからlaunch されている？であれば、以下のliflog は戻して arg & if かな。

Copy link
Collaborator Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

これもarg & ifにします．

Copy link
Collaborator Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

65d5ce9
で対応しました

Copy link
Collaborator Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

読み飛ばしていました．これはどこからも呼び出されてはいませんでした．

<arg name="launch_lifelog" default="true" />

<include file="$(find jsk_robot_startup)/launch/lifelog.launch" if="$(launch_lifelog)">
<arg name="logger_save_action" value="true" />
<arg name="logger_save_smach" value="true" />
<arg name="logger_save_faces" value="true" />
<arg name="logger_save_dialogflow" value="true" />
<arg name="image" value="/head_camera/rgb/image_rect_color" />
<arg name="launch_mongodb" value="false" />
</include>
<include file="$(find jsk_robot_startup)/launch/interaction.launch" ns="db_talker" >
<arg name="chat_use_helper" value="false" />
<arg name="launch_google_chat" value="false" />
<arg name="launch_gdrive_server" value="false" />
</include>
<include file="$(find jsk_perception)/launch/vqa.launch" >
<arg name="host" value="133.11.216.160" />
<arg name="port" value="8888" />
<arg name="run_api" value="false" />
</include>
<include file="$(find jsk_perception)/launch/classification.launch" >
<arg name="host" value="133.11.216.160" />
<arg name="port" value="9999" />
<arg name="run_api" value="false" />
</include>

</launch>
Loading