Merge remote-tracking branch 'knorth55/tweet-volume-control' into dev…

…elop/fetch-tweet-volume-control

jsk_fetch_robot/fetcheus/fetch-interface.l

@@ -15,6 +15,20 @@
 (ros::load-ros-package "fetch_driver_msgs")
 (ros::load-ros-package "robot_controllers_msgs")
 
+(when (null (assoc :delete-object-by-id (send collision-object-publisher :methods)))
+  (ros::ros-warn ";;")
+  (ros::ros-warn ";;")
+  (ros::ros-warn ";; jsk-ros-pkg/jsk_pr2eus <0.3.14 does not have :delete-object-by-id method")
+  (ros::ros-warn ";;   If you need full features of latest fetcheus, please use jsk_pr2eus from source")
+  (ros::ros-warn ";;   See https://github.com/jsk-ros-pkg/jsk_demos/pull/1375#issuecomment-1292943531")
+  (ros::ros-warn ";;")
+  (ros::ros-warn ";;")
+  (defmethod collision-object-publisher
+    (:delete-attached-object-by-id (object-id)
+      (ros::ros-warn ";; did not delete attached object \"~A\"" object-id))
+    (:delete-object-by-id (object-id)
+      (ros::ros-warn ";; did not delete object \"~A\"" object-id))))
+
 (defclass fetch-interface
   :super robot-move-base-interface
   :slots (gripper-action moveit-robot fetch-controller-action point-head-action)

jsk_naoqi_robot/cross/README.md

@@ -1,8 +1,8 @@
 ## Introduction
 
-This project contains a set of patches and scripts to compile and run ROS1 on a Go1 robot, without the need of a tethered computer, based on https://github.com/esteve/ros2_pepper
+This project contains a set of patches and scripts to compile and run ROS1 on a Pepper robot, without the need of a tethered computer, based on https://github.com/esteve/ros2_pepper and https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_unitree_robot/cross/README.md
 
-## Setup Go1 Robot
+## Setup Pepper Robot
 
 ### Prepare cross-compiling environment (Run only the fist time per host computer)
 
@@ -19,107 +19,102 @@ $ newgrp
 $ sudo apt install -y qemu-user-static
 ```
 
-### Build ROS System on Docker  (Run only the fist time per host computer)
+3. Install Aldebaran's cross environment tool-chains
 
-```
-make system
-```
+Download and extract ctc-linux64-atom-2.5.10.7.zip (use [GoogleDrive](https://drive.google.com/drive/folders/1P49oBEobwyVI4TG1nxxXUftc9TLEYEc7) for JSK Users) in your home directory.
 
-Caution!!! It will take more than a few hours !! So for JSK users, download the `arm64v8_System.tgz` archive file from [here](https://drive.google.com/drive/u/2/folders/1SBA9oAwjfD84yRFEB-jsCH1m5Q8eEGSK) and extract under `jsk_unitree_robot/cross/` directory before run `make` command.
+Set environment variable to your `.bashrc`
 
-Run following command to copy ROS1 base sytem to Go1 onboard computer. This should be done only in the first time. So normally user do not have to run this command
 ```
-./install.sh -p 123 -D System
+export ALDE_CTC_CROSS=$HOME/ctc-linux64-atom-2.5.10.7
 ```
 
-### Build `jsk_unitree_robot` software on Docker
-
-You can build your current `jsk_unitree_robot` workspace on Docker environment which is ready to copy into Go1 onboard computer.
+4. Install command used in scripts
 
 ```
-make user
+apt install python-vcstool sshpass
 ```
 
-To copy your software to Go1 onboard computer, run following command
+### Build ROS System on Docker  (Run only the fist time per host computer)
+
 ```
-./install.sh -p 123
+make system
 ```
 
-## Detailed information
-
-### Procedures not included in `make` process
+Caution!!! It will take more than a few hours !!
 
-#### Setup CUDA environment
-
-nano3(192.168.123.15) of Pro robot does not contain CUDA environment. Please look at `pro_nano2_install_scripts` directory.
+Run following command to copy ROS1 base sytem to Pepper onboard computer. This should be done only in the first time. So normally user do not have to run this command. You need to specify password by -p option.
+```
+./install.sh -p <robot password> -d System
+```
 
-#### copy `rosdep` cache file
+### Build `jsk_pepper_robot` software on Docker
 
-nano2(192.168.123.14) of Edu robot does not contain `rosdep` cache file, thus `app_manager.launch` outputs following warnings.
+You can build your current `jsk_pepper_robot` workspace on Docker environment which is ready to copy into Pepper onboard computer.
 
 ```
-the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
-[INFO] [1631952867.412752]: Loading from plugin definitions
-[WARN] [1631952867.416907]: No applist directory found.
-[INFO] [1631952867.426196]: Using apps for platform 'go1'
-[INFO] [1631952867.441346]: Starting app manager for robot
-[INFO] [1631952867.467832]: Waiting for foreign master [http://localhost:11313] to come up...
-[INFO] [1631952867.491849]: Foreign master is available
-```
-and you can also find find following error.
-```
-rospack export --lang=app_manager --attrib=app_manager jsk_unitree_startup
-[rospack] Error: the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
+make user
 ```
 
-To fix this problem, go to `pro_nano2_install_scripts` directory and copy cache files.
+To copy your software to Pepper onboard computer, run following command
 ```
-cd pro_nano2_install_scripts
-./copy.sh
+./install.sh -p <robot password>
 ```
 
-#### List of software installed in Docker environment
+## Start `jsk_pepper_startup.launch`
 
-Create List of ROS packages to be installed
+ssh to NAO_IP machine and run
 ```
-ssh pi@192.168.123.161 'source /opt/ros/melodic/setup.bash; rospack list' |tee 161-list.txt
-ssh unitree@192.168.123.13 'source /opt/ros/melodic/setup.bash; rospack list' |tee 13-list.txt
-ssh unitree@192.168.123.14 'source /opt/ros/melodic/setup.bash; rospack list' |tee 14-list.txt
-ssh unitree@192.168.123.15 'source /opt/ros/melodic/setup.bash; rospack list' |tee 15-list.txt
-cat 161-list.txt 13-list.txt 14-list.txt 15-list.txt  | sort | uniq -c | sort | egrep "^.*4" | sed 's/^\s*4\s*\(\S*\)\s.*$/ros-melodic-\1/' | sed 's/_/-/g' | tee ros-packages.txt
+source User/user_setup.bash
+roslaunch --screen jsk_pepper_startup jsk_pepper_startup.launch network_interface:=eth0 launch_dashboard:=false launch_joy:=false
 ```
 
-Create List of Debian packages to be installed
-```
-ssh pi@192.168.123.161 'dpkg --get-selections' | tee 161-select.txt
-ssh unitree@192.168.123.13 'dpkg --get-selections' | tee 13-select.txt
-ssh unitree@192.168.123.14 'dpkg --get-selections' | tee 14-select.txt
-ssh unitree@192.168.123.15 'dpkg --get-selections' | tee 15-select.txt
-cat 13-select.txt 14-select.txt 161-select.txt | sort | uniq -c | egrep "^\s+3\s" | sed 's/\s\s*/ /g' | cut -f 3 -d\  | sed 's/:arm64$//' | tee deb-packages.txt
-```
+You can connect to `app_chooser` by http://<$NAO_IP>:8000/rwt_app_chooser/#!robot
 
 ## Known Issues
 
-### Running python3
+### `./install.sh -d System` errors at the first time.
+
+./install.sh -d System` requires `User` environment, so it causes error at the first time. You need to re-run `./install.sh` after you installed User space.
 
-Since `st-000-ros1.bash` set PYTHONPATH and we installed `python-futures` via pip, It breaks python3 execution.
-When you run python3, you need to unset PYTHONPATH, i.e `PYTHONPATH= vcs`
+### `./build_user.sh build -c` fails
 
-### Build time
+`./build_user.sh build -c` fails as follows. This is expected behavior and we recommend to combile all packages in the first time. `make user` runs `catkin build jsk_pepper_startup peppereus` and pacakages such as `pepepr_meshes` and `rosbash` is not compiled with this command.
 
-Compile all System packages on aarch64 takes long time, It will take a whole day. You'd metter to obtain `arm64v8_System` directory from someone else.
+```
+ [    Failed] roseus_remote
+ [    Failed] speak_and_wait_recovery
+```
 
+### To comple `pepper.l` within the robot
 
+```
+cp -r /opt/ros/melodic/share/pepper_meshes/meshes/  ./i386_User/src/pepper_meshes/
+rm -fr i386_User/build/pepper_meshes/ i386_User/build/peppereus
+./build_user.sh build pepper_meshes peppereus
+```
 
 ### Development
 
-On development phase, users are expected to develop sofoware on remote machine. All codes are expected to add in jsk_unitree_startup package.
+On development phase, users are expected to develop sofoware on a remote machine. All codes are expected to add in `jsk_pepper_startup` package.
 
-### Deployment
 
-You can send all development files to robot and start them on boot time.
+You can send all development files to robot and start them on boot time. Note that this process requres `NAO_IP` environment variable.
 
 ```
 make user
 make install
 ```
+
+If you want to use ethernet, you need to change from `wlan0` to `eth0` in `jsk_naoqi_robot/cross/startup_scripts/user_setup.bash` and run `make install`
+```
+export ROS_IP=$(ip addr show eth0 | grep -Po '(?<= inet )([0-9]{1,3}.){3}[0-9]{1,3}')
+```
+
+If you add more dependencies to `package.xml`, you need to remove `i386_Users` and run `make user` again.
+
+
+You can restore from saved docker container. For JSK users, you can find latest data at [Google Drive](https://drive.google.com/drive/u/1/folders/10rINVGt1iDM2WNofmf0sZBX_iTnpXya6). You can also find backup of `i386_System`.
+```
+docker load < ros1-pepper.tar
+```

jsk_naoqi_robot/cross/build_user.sh

@@ -9,7 +9,7 @@ PYTHON2_VERSION=2.7.17
 
 TARGET_ROBOT="${TARGET_ROBOT:-pepper}"
 
-ARGS="${@:-build jsk_${TARGET_ROBOT}_startup ${TARGET_ROBOT}eus}"
+ARGS="${@:-build rosbash ${TARGET_ROBOT}_meshes jsk_${TARGET_ROBOT}_startup ${TARGET_ROBOT}eus}" # peppereus requres pepper_meshes
 
 set -euf -o pipefail
 
@@ -29,7 +29,7 @@ fi
 set -x
 # copy jsk_robot direcotry to jsk_catkin_ws/src
 mkdir -p ${SOURCE_ROOT}/src/jsk_robot
-rsync -avzh --delete --exclude 'jsk_naoqi_robot/cross*' --exclude "nao.l" --exclude "pepper.l" ../../../jsk_robot ${SOURCE_ROOT}/src/
+rsync -avzh --delete --exclude 'jsk_naoqi_robot/cross*' --exclude "nao.l" --exclude "pepper.l" --exclude "nao-simple.l" --exclude "pepper-simple.l" ../../../jsk_robot ${SOURCE_ROOT}/src/
 
 # ingore non-related packages
 for dir in $(find ${SOURCE_ROOT}/src/jsk_robot -maxdepth 1 -mindepth 1 -type d); do
@@ -41,6 +41,17 @@ done
 # add unitree repos
 [ ${UPDATE_SOURCE_ROOT} -eq 0 ] || vcs import ${SOURCE_ROOT}/src < repos/pepper.repos
 
+# force copy pepper_meshes
+if [ ! -e ${SOURCE_ROOT}/src/pepper_meshes/meshes ]; then
+    if [ ! -e /opt/ros/melodic/share/pepper_meshes/meshes/ ]; then
+        set +x
+        echo "ERROR: You need /opt/ros/melodic/share/pepper_meshes/meshes/ " 1>&2
+        echo "ERROR: run apt 'install ros-melodic-pepper-meshes'" 1>&2
+        exit -1
+    fi
+    cp -r /opt/ros/melodic/share/pepper_meshes/meshes/ ${SOURCE_ROOT}/src/pepper_meshes/
+fi
+
 ## UPDATE_SOURCE_ROOT=1  # TRUE
 
 # run on docker
@@ -74,7 +85,9 @@ docker run -it --rm \
         -DPYTHON_LIBRARY=/home/nao/System/Python-2.7.17/lib/libpython2.7.so \
         --cmake-args -DCATKIN_ENABLE_TESTING=FALSE --make-args VERBOSE=1\
     " 2>&1 | tee ${TARGET_MACHINE}_build_user.log
-cp ${PWD}/startup_scripts/user_setup.bash ${SOURCE_ROOT}/
+cp -a ${PWD}/startup_scripts/user_setup.bash ${SOURCE_ROOT}/
+cp -a ${PWD}/startup_scripts/start.sh ${SOURCE_ROOT}/
+cp -a ${PWD}/startup_scripts/screenrc ${SOURCE_ROOT}/
 
 echo "
 

jsk_naoqi_robot/cross/install.sh

@@ -79,11 +79,12 @@ function copy_data () {
 
     if [[ "${TARGET_DIRECTORY}" == "System" ]]; then
         sed -i 's@if 0:@if 1:@' i386_System/Python-2.7.17/lib/python2.7/site-packages/rosdep2/sources_list.py
-        sshpass -p $PASS ssh -t ${user}@${hostname} bash -x -c 'test -e .ros/rosdep/sources.cache/index && exit 0; source User/user_setup.bash; export ROS_ETC_DIR=User/etc; rosdep init; rosdep update'
     fi
 
     if [[ "${TARGET_DIRECTORY}" == "User" ]]; then
-        sshpass -p $PASS ssh -t ${user}@${hostname} bash -c 'mkdir -p .local/share/PackageManager/apps/img/html/; cp -r User/src/jsk_robot/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/image/* .local/share/PackageManager/apps/img/html/'
+        ##  add ls; then run your command ???? https://stackoverflow.com/a/33107011
+        sshpass -p $PASS ssh -t ${user}@${hostname} bash -c 'ls; test -e .ros/rosdep/sources.cache/index && exit 0; echo "OK"; source User/user_setup.bash; export ROS_ETC_DIR=User/etc; rosdep init; rosdep update'
+        sshpass -p $PASS ssh -t ${user}@${hostname} bash -c 'ls; mkdir -p .local/share/PackageManager/apps/img/html/; cp -r User/src/jsk_robot/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/image/* .local/share/PackageManager/apps/img/html/'
     fi
 }
 

jsk_naoqi_robot/cross/prepare_requirements_ros1.sh

@@ -137,7 +137,7 @@ docker run -it --rm \
     pip install cython==0.26.1 && \
     pip install PyYaml==3.12 Pillow==5.1.0 empy==3.3.2 docutils==0.14 pyparsing==2.2.0 python-dateutil==2.6.1 six==1.11.0 setuptools==39.0.1 numpy==1.13.3 defusedxml==0.5.0 netifaces==0.10.4 pymongo==3.6.1 image tornado==4.5.3 && \
     pip install catkin-pkg==0.5.2 rospkg==1.4.0 catkin-tools==0.6.1 && \
-    pip install service-identity==16.0.0 pyasn1==0.4.2 pyasn1-modules==0.2.1 && \
+    pip install pyOpenSSL==17.5.0 cryptography==2.1.4 service-identity==16.0.0 pyasn1==0.4.2 pyasn1-modules==0.2.1 && \
     pip install pycryptodomex==3.4.7 && \
     \
     echo ';; Install Twisted' && \
@@ -147,7 +147,7 @@ docker run -it --rm \
     wget https://files.pythonhosted.org/packages/93/ba/83fe91c2f6c613d53ce65d89b50620fc760d698a2f66b6b80147118a5c0f/Twisted-16.0.0.tar.bz2 && \
     tar -xjvf Twisted-16.0.0.tar.bz2 && \
     cd Twisted-16.0.0 && \
-    python setup.py install
+    python setup.py install && \
     \
     echo ';; Install rosinstall_generator' && \
     \

jsk_naoqi_robot/cross/repos/ros1_dependencies.repos

@@ -317,4 +317,19 @@ repositories:
     url: http://archive.ubuntu.com/ubuntu/pool/main/g/gpgme1.0/gpgme1.0_1.10.0.orig.tar.bz2
   libgpgme-dev/debian:
     type: tar
-    url: http://archive.ubuntu.com/ubuntu/pool/main/g/gpgme1.0/gpgme1.0_1.10.0-1ubuntu2.debian.tar.xz
+    url: http://archive.ubuntu.com/ubuntu/pool/main/g/gpgme1.0/gpgme1.0_1.10.0-1ubuntu2.debian.tar.xz
+  screen:
+    type: tar
+    url: http://archive.ubuntu.com/ubuntu/pool/main/s/screen/screen_4.6.2.orig.tar.gz
+  screen/debian:
+    type: tar
+    url: http://archive.ubuntu.com/ubuntu/pool/main/s/screen/screen_4.6.2-1.debian.tar.xz
+  libogg-dev:
+    type: tar
+    url: http://archive.ubuntu.com/ubuntu/pool/main/libo/libogg/libogg_1.3.2.orig.tar.gz
+  libtheora:
+    type: tar
+    url: http://archive.ubuntu.com/ubuntu/pool/main/libt/libtheora/libtheora_1.1.1+dfsg.1.orig.tar.gz
+  libtheora/debian:
+    type: tar
+    url: http://archive.ubuntu.com/ubuntu/pool/main/libt/libtheora/libtheora_1.1.1+dfsg.1-14.debian.tar.xz

jsk_naoqi_robot/cross/ros1_dependencies_build_scripts/1044-screen

@@ -0,0 +1,25 @@
+#!/bin/bash
+set -xeuf -o pipefail
+
+DEBIAN_DIR=/home/nao/ros1_dependencies_sources/src/screen/debian/debian
+SOURCE_DIR=/home/nao/ros1_dependencies_sources/src/screen/screen-4.6.2
+
+cd ${DEBIAN_DIR}/patches
+if [ ! -e .patched ]; then
+    for patch_file in $(cat series); do
+        [ -e "${patch_file}" ] || continue
+        OUT="$(patch -p1 --forward --directory ${SOURCE_DIR} < ${patch_file} | tee /dev/tty)" || echo "${OUT}" | grep "Skipping patch" -q || (echo "$OUT" && false)
+    done
+    touch .patched
+fi
+
+cd ${SOURCE_DIR}
+
+#LIBNCURSES_LIBS="-lncurses -ltinfo" LIBNCURSES_CFLAGS="-I/home/nao/System/ros1_dependencies/include/ncurses -D_GNU_SOURCE -D_DEFAULT_SOURCE"
+./configure \
+  --prefix=/home/nao/${INSTALL_ROOT}/ros1_dependencies \
+  --enable-static --host=i686-aldebaran-linux-gnu \
+  --disable-pam --disable--socket-dir --disable-doc
+
+make -j4 install
+# make install --list-missing -X.la -Xinfo/dir -X.pyc -Xinstall_files.txt -X__pycache__

jsk_naoqi_robot/cross/ros1_dependencies_build_scripts/1045-libogg-dev

@@ -0,0 +1,24 @@
+#!/bin/bash
+set -xeuf -o pipefail
+
+DEBIAN_DIR=/home/nao/ros1_dependencies_sources/src/libogg-dev/debian/debian
+SOURCE_DIR=/home/nao/ros1_dependencies_sources/src/libogg-dev/libogg-1.3.2
+
+# cd ${DEBIAN_DIR}/patches
+# if [ ! -e .patched ]; then
+#     for patch_file in $(cat series); do
+#         [ -e "${patch_file}" ] || continue
+#         OUT="$(patch -p1 --forward --directory ${SOURCE_DIR} < ${patch_file} | tee /dev/tty)" || echo "${OUT}" | grep "Skipping patch" -q || (echo "$OUT" && false)
+#     done
+#     touch .patched
+# fi
+
+cd ${SOURCE_DIR}
+
+./configure \
+  --prefix=/home/nao/${INSTALL_ROOT}/ros1_dependencies \
+  --enable-static --host=i686-aldebaran-linux-gnu
+
+make clean || echo "OK"
+make -j4 install
+# make install --list-missing -X.la -Xinfo/dir -X.pyc -Xinstall_files.txt -X__pycache__

jsk_naoqi_robot/cross/ros1_dependencies_build_scripts/1046-libtheora-dev

@@ -0,0 +1,24 @@
+#!/bin/bash
+set -xeuf -o pipefail
+
+DEBIAN_DIR=/home/nao/ros1_dependencies_sources/src/libtheora/debian/debian
+SOURCE_DIR=/home/nao/ros1_dependencies_sources/src/libtheora/libtheora-1.1.1
+
+cd ${DEBIAN_DIR}/patches
+if [ ! -e .patched ]; then
+    for patch_file in $(cat series); do
+        [ -e "${patch_file}" ] || continue
+        OUT="$(patch -p1 --forward --directory ${SOURCE_DIR} < ${patch_file} | tee /dev/tty)" || echo "${OUT}" | grep "Skipping patch" -q || (echo "$OUT" && false)
+    done
+    touch .patched
+fi
+
+cd ${SOURCE_DIR}
+
+./configure \
+  --prefix=/home/nao/${INSTALL_ROOT}/ros1_dependencies \
+  --enable-static --host=i686-aldebaran-linux-gnu
+
+make -j4 install-exec
+make -j4 install-pkgconfigDATA
+# make install --list-missing -X.la -Xinfo/dir -X.pyc -Xinstall_files.txt -X__pycache__

jsk_naoqi_robot/cross/startup_scripts/screenrc

@@ -0,0 +1,2 @@
+escape ^Tt
+hardstatus alwayslastline "%H %-Lw%{= BW}%50>%n%f* %t%{-}%+Lw%<"

jsk_naoqi_robot/cross/startup_scripts/start.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+set -xef -o pipefail
+
+source User/user_setup.bash
+screen -c User/screenrc -dmS session bash
+screen -c User/screenrc -S session -p 0 -X stuff "roslaunch jsk_pepper_startup jsk_pepper_startup.launch launch_dashboard:=false network_interface:=wlan0 launch_joy:=false^M"
+sleep 1 # wait for screen to startup
+screen -c User/screenrc -r

jsk_naoqi_robot/jsk_pepper_startup/package.xml

@@ -28,6 +28,7 @@
   <run_depend>std_msgs</run_depend>
   <run_depend>std_srvs</run_depend>
   <run_depend>teleop_twist_joy</run_depend>
+  <run_depend>compressed_image_transport</run_depend>
   <run_depend>jsk_robot_startup</run_depend>
   <run_depend>rwt_app_chooser</run_depend>
   <run_depend>app_manager</run_depend>