[Spot][jsk-spot-startup] add jsk_spot_startup package

jsk_spot_robot/README.md

@@ -1,3 +1,70 @@
 jsk_spot_robot
 ==============
 
+Currently, this packages require
+
+- [spot_ros]() with [this patch](https://github.com/clearpathrobotics/spot_ros/pull/25)
+- [common_msgs]() with [this patch](https://github.com/ros/common_msgs/pull/171)
+- [jsk_recognition]() with [this patch](https://github.com/jsk-ros-pkg/jsk_recognition/pull/2579) and [this patch](https://github.com/jsk-ros-pkg/jsk_recognition/pull/2581)
+
+## Manuals
+
+- [Supported Documents of Boston Dynamics](https://www.bostondynamics.com/spot/training/documentation)
+- [Spot ROS User Documentation](http://www.clearpathrobotics.com/assets/guides/melodic/spot-ros/ros_usage.html#taking-control-of-the-robot)
+
+## How to run
+
+### Install some python requirements
+
+```
+$ pip3 install -r requirements.txt
+```
+
+### Setting up a catkin workspace for a new user in the internal pc
+
+```bash
+source /opt/ros/$ROS_DISTRO/setup.bash
+mkdir $HOME/catkin_ws/src -p
+cd $HOME/catkin_ws
+catkin init
+cd src
+wstool init .
+wstool merge -t . https://github.com/sktometometo/jsk_robot/raw/develop/spot/jsk_spot_robot/jsk_spot.rosinstall
+wstool update
+rosdep install -y -r --from-paths . --ignore-src
+catkin build
+source $HOME/catkin_ws/devel/setup.bash
+```
+
+### Bringup spot
+
+First, please turn on spot and turn on motors according to [the OPERATION section of spot user guide](https://www.bostondynamics.com/sites/default/files/inline-files/spot-user-guide.pdf)
+
+After that, please run the ros driver and other basic programs with `jsk_spot_bringup.launch`. You can now control spot from ROS!
+
+```bash
+roslaunch jsk_spot_startup jsk_spot_bringup.launch username:=<username> password:=<password>
+```
+
+This launch includes
+- driver launch file for spot
+- bringup launch for additional peripheral devices (Respeaker, insta 360 air and ublox GPS module)
+- teleoperation launch
+- interaction launch with Speech-To-Text and Text-To-Speech
+
+For visualization, you can run RViz with jsk configuration.
+
+```bash
+roslaunch jsk_spot_startup rviz.launch
+```
+
+You can control spot with DualShock3 controller. Please see [jsk_spot_teleop](./jsk_spot_teleop/README.md) for more details.
+
+For development, `record.launch` and `play.launch` are useful for rosbag recording and playing.
+
+```bash
+# Record a rosbag file
+roslaunch jsk_spot_startup record.launch rosbag:=<absolute file path to rosbag file>
+# Play a rosbag file
+roslaunch jsk_spot_startup play.launch rosbag:=<absolute file path to rosbag file>
+```

jsk_spot_robot/jsk_spot.rosinstall

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+- git:
+    local-name: jsk-ros-pkg/jsk_robot
+    uri: https://github.com/sktometometo/jsk_robot.git
+    version: develop/spot
+- git:
+    local-name: jsk-ros-pkg/jsk_recognition
+    uri: https://github.com/sktometometo/jsk_recognition.git
+    version: develop/spot
+- git:
+    local-name: common_msgs
+    uri: https://github.com/sktometometo/common_msgs.git
+    version: PR/add-panorama-info
+- git:
+    local-name: spot-ros
+    uri: https://github.com/sktometometo/spot_ros.git
+    version: feature/add-go-pos

jsk_spot_robot/jsk_spot_startup/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(jsk_spot_startup)
+
+find_package(catkin REQUIRED)
+
+
+###################################
+## catkin specific configuration ##
+###################################
+catkin_package()
+
+
+#############
+## Install ##
+#############
+install(DIRECTORY config launch
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+   USE_SOURCE_PERMISSIONS
+)
+
+###################################
+## Create desktop icons for spot ##
+###################################
+##
+macro(configure_spot_ros_icon_files iname)
+    set(ROBOT_NAME ${iname})
+    configure_file(shortcuts/SpotROS.desktop.in
+        $ENV{HOME}/.local/share/applications/SpotROS${ROBOT_NAME}.desktop)
+    cmake_host_system_information(RESULT _host_name QUERY HOSTNAME)
+    if(${_host_name} MATCHES "^${ROBOT_NAME}")
+        configure_file(shortcuts/SpotROS.desktop.in
+            $ENV{HOME}/Desktop/SpotROS${ROBOT_NAME}.desktop)
+    endif()
+endmacro(configure_spot_ros_icon_files)
+##
+macro(configure_rviz_icon_files iname)
+    set(ROBOT_NAME ${iname})
+    configure_file(shortcuts/RVizSpot.desktop.in
+        $ENV{HOME}/.local/share/applications/RViz${ROBOT_NAME}.desktop)
+    cmake_host_system_information(RESULT _host_name QUERY HOSTNAME)
+    if(${_host_name} MATCHES "^${ROBOT_NAME}")
+        configure_file(shortcuts/RVizSpot.desktop.in
+            $ENV{HOME}/Desktop/RViz${ROBOT_NAME}.desktop)
+    endif()
+endmacro(configure_rviz_icon_files)
+
+configure_spot_ros_icon_files(spot-jsk)
+configure_rviz_icon_files(spot-jsk)
+
+
+#############
+## Testing ##
+#############
+if(CATKIN_ENABLE_TESTING)
+  find_package(catkin REQUIRED COMPONENTS roslaunch roslint)
+  file(GLOB LAUNCH_FILES launch/*.launch)
+  foreach(LAUNCH_FILE ${LAUNCH_FILES})
+    roslaunch_add_file_check(${LAUNCH_FILE})
+  endforeach()
+
+  set(ROSLINT_PYTHON_OPTS --max-line-length=180 --ignore=E221,E222,E241) # skip multiple spaces before/after operator
+  roslint_python()
+  roslint_add_test()
+endif()