diff --git a/jsk_naoqi_robot/README.md b/jsk_naoqi_robot/README.md
index e719f077aa3..66aeff6fd45 100644
--- a/jsk_naoqi_robot/README.md
+++ b/jsk_naoqi_robot/README.md
@@ -57,6 +57,8 @@ If this happens, please connect Pepper to network with DHCP and exit Setting.
For ros kinetic, please refer to install guide like [here](http://wiki.ros.org/kinetic/Installation).
For ros melodic, please refer to install guide like [here](http://wiki.ros.org/melodic/Installation).
+% As mentioned in https://github.com/ros-naoqi/naoqi_driver#launch, naoqi_driver for ROS melodic and greater have to be used for robots running NAOqi 2.9 and greater. Using ROS melodic on Pepper running NAOqi OS 2.5 has some known issue like this: https://github.com/ros-naoqi/naoqi_driver/issues/96
+
1. Install ``Python NAOqi SDK``
You can download it (version = 2.5.5) from [here](https://drive.google.com/file/d/1xHuYREDa78xGiikEpsjxfZQ7Gfvo1E9D/view?usp=sharing).
Please unzip the downloaded file.
@@ -124,6 +126,8 @@ source devel/setup.bash
Confirm that you get the following output when you type `wstool info`
+% UID of jsk_robot may change from below, but there is no problem. That is because this package is in active developpment.
+
```
$ cd ~/catkin_ws/src
$ wstool info
@@ -132,13 +136,13 @@ workspace: /home/leus/catkin_ws/src
Localname S SCM Version (Spec) UID (Spec) URI (Spec) [http(s)://...]
--------- - --- -------------- ----------- ---------------------------
pepper_robot git master (-) efad3979b374 github.com/ros-naoqi/pepper_robot
- naoqi_driver M git kochigami-develop 98c0b678286a github.com/kochigami/naoqi_driver
- naoqi_dashboard git kochigami-develop 33962f146c77 github.com/kochigami/naoqi_dashboard
+ naoqi_driver git kochigami-develop 98c0b678286a github.com/kochigami/naoqi_driver
+ naoqi_dashboard git kochigami-develop 7f32005e08e0 github.com/kochigami/naoqi_dashboard
naoqi_bridge_msgs git kochigami-develop d7417613690e github.com/kochigami/naoqi_bridge_msgs
naoqi_bridge git kochigami-develop c28b727e1e9b github.com/kochigami/naoqi_bridge
nao_robot git master (-) 67476469a137 github.com/ros-naoqi/nao_robot
nao_interaction git master (-) f97ad12f3896 github.com/ros-naoqi/nao_interaction
- jsk_robot git master 1f44c97c7855 github.com/jsk-ros-pkg/jsk_robot.git
+ jsk_robot git master d551865511c3 github.com/jsk-ros-pkg/jsk_robot.git
```
## Interface when controlling NAO and Pepper via roseus
diff --git a/jsk_naoqi_robot/cross/build_user.sh b/jsk_naoqi_robot/cross/build_user.sh
index 342a7311aa7..3a4cac1afdd 100755
--- a/jsk_naoqi_robot/cross/build_user.sh
+++ b/jsk_naoqi_robot/cross/build_user.sh
@@ -88,6 +88,7 @@ docker run -it --rm \
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}/
+cp -a ${PWD}/startup_scripts/attach.sh ${SOURCE_ROOT}/
echo "
diff --git a/jsk_naoqi_robot/cross/startup_scripts/attach.sh b/jsk_naoqi_robot/cross/startup_scripts/attach.sh
new file mode 100755
index 00000000000..ed4ee213683
--- /dev/null
+++ b/jsk_naoqi_robot/cross/startup_scripts/attach.sh
@@ -0,0 +1,2 @@
+source User/user_setup.bash
+screen -c User/screenrc -r
diff --git a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.app b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.app
index a8e5653406e..5dbb1b7e3e2 100644
--- a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.app
+++ b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.app
@@ -2,4 +2,4 @@ display: Meeting
platform: pepper
launch: jsk_pepper_startup/meeting.xml
interface: jsk_pepper_startup/meeting.interface
-icon: jsk_pepper_startup/meeting.png
+icon: jsk_pepper_startup/meeting.jpg
diff --git a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.jpg b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.jpg
new file mode 100644
index 00000000000..3ecabdfe011
Binary files /dev/null and b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.jpg differ
diff --git a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.png b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.png
deleted file mode 100644
index 6d4295c2678..00000000000
Binary files a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.png and /dev/null differ
diff --git a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.xml b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.xml
index 2a74a9b0d45..c1a38bdf83a 100644
--- a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.xml
+++ b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.xml
@@ -1,7 +1,4 @@
-
-
-
diff --git a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l
index 653a72acb41..b200da23eeb 100755
--- a/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l
+++ b/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/scripts/meeting.l
@@ -53,11 +53,10 @@
(defvar *pose6* (list #f(2.0 -2.0 -5.0 110.0 35.0 -40.0 -60.0 -40.0 110.0 -35.0 40.0 60.0 40.0 0.0 15.0) #f(2.0 -2.0 -5.0 110.0 35.0 -40.0 -60.0 -40.0 110.0 -35.0 40.0 60.0 40.0 0.0 15.0) #f(2.0 -2.0 -5.0 85.0 10.0 -70.0 -20.0 -40.0 85.0 -10.0 70.0 20.0 40.0 0.0 0.0)))
(defvar *time6* (list 2000 3000 1000))
-;;
+;; poses for byebye
(defvar *reset* #f(2.0 -2.0 -5.0 85.0 10.0 -70.0 -20.0 -40.0 85.0 -10.0 70.0 20.0 40.0 0.0 0.0))
-(defvar *a* #f(2.0 -2.0 -5.0 0.0 10.0 -100.0 -70.0 60.0 0.0 -10.0 100.0 70.0 -60.0 0.0 0.0))
-(defvar *d* #f(2.0 -2.0 -5.0 0.0 10.0 -110.0 -70.0 60.0 0.0 -10.0 110.0 70.0 -60.0 0.0 -10.0))
-(defvar *e* #f(2.0 -2.0 -5.0 0.0 10.0 -110.0 -70.0 60.0 0.0 -10.0 110.0 70.0 -60.0 0.0 -10.0))
+(defvar *byebye-close* #f(2.0 -2.0 -5.0 0.0 10.0 -100.0 -70.0 60.0 0.0 -10.0 100.0 70.0 -60.0 0.0 0.0))
+(defvar *byebye-open* #f(2.0 -2.0 -5.0 0.0 10.0 -110.0 -70.0 60.0 0.0 -10.0 110.0 70.0 -60.0 0.0 -10.0))
(defvar *img-list*
(list
@@ -86,15 +85,7 @@
(ros::roseus "online-meeting-enhancement-main")
-(ros::subscribe "joy" sensor_msgs::Joy
- #'(lambda (msg)
- (let ((button (send msg :buttons)))
- (ros::ros-info "received joy button ~A" button)
- (when (eq (elt button 3) 1)
- (send *ri* :speak "はい")
- (setq *continue* nil)))))
-
-(defun start-func (args)
+(defun start-func (&rest args)
(let ()
(setq *last-tm* (ros::time-now))
;;
@@ -114,14 +105,16 @@
(set-alist 'description "" args)
:started))
-(defun end-func (args)
+(defun end-func (&rest args)
(let ()
(send *ri* :show-image "golden-saying-by-pepper-7.png")
+ (send *ri* :set-basic-awareness-enabled nil)
+ (send *ri* :set-background-movement-enabled nil)
(send *ri* :angle-vector-sequence (list #f(2.0 -2.0 -5.0 85.0 20.0 -70.0 -20.0 -40.0 85.0 -20.0 70.0 20.0 40.0 30.0 -10.0) #f(2.0 -2.0 -5.0 85.0 10.0 -70.0 -20.0 -40.0 85.0 -10.0 70.0 20.0 40.0 0.0 0.0) #f(2.0 -2.0 -5.0 85.0 20.0 -70.0 -20.0 -40.0 85.0 -20.0 70.0 20.0 40.0 -30.0 -10.0) #f(2.0 -2.0 -5.0 85.0 10.0 -70.0 -20.0 -40.0 85.0 -10.0 70.0 20.0 40.0 0.0 0.0)) (list 1000 1000 1000 1000))
(send *ri* :speak "\\vct=120\\\\rspd=80\\みなさん")
(send *ri* :wait-interpolation)
- (send *ri* :angle-vector-sequence (list *a* *d* *a* *d* *a* *d* *a* *d* *a* *e* *reset*) (list 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 3000))
+ (send *ri* :angle-vector-sequence (list *byebye-close* *byebye-open* *byebye-close* *byebye-open* *byebye-close* *byebye-open* *byebye-close* *byebye-open* *byebye-close* *byebye-open* *reset*) (list 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 3000))
(send *ri* :speak "\\vct=120\\\\rspd=80\\おつかれさまでしたッ！\\rspd=100\\")
(send *ri* :wait-interpolation)
(send *ri* :hide-image)
@@ -130,7 +123,7 @@
(set-alist 'description "End Meeting" args)
:finished))
-(defun comment-func (args)
+(defun comment-func (&rest args)
(let (count str (wait 600) tm)
;; cleanup description/image
(set-alist 'description "" args)
diff --git a/jsk_naoqi_robot/jsk_pepper_startup/launch/jsk_pepper_startup.launch b/jsk_naoqi_robot/jsk_pepper_startup/launch/jsk_pepper_startup.launch
index 20353e87128..fe0f2d3b2c7 100644
--- a/jsk_naoqi_robot/jsk_pepper_startup/launch/jsk_pepper_startup.launch
+++ b/jsk_naoqi_robot/jsk_pepper_startup/launch/jsk_pepper_startup.launch
@@ -15,6 +15,11 @@
+
+
+
+
+
diff --git a/jsk_panda_robot/jsk_panda_teleop/package.xml b/jsk_panda_robot/jsk_panda_teleop/package.xml
index 9307a29ca4a..acda39f88ac 100644
--- a/jsk_panda_robot/jsk_panda_teleop/package.xml
+++ b/jsk_panda_robot/jsk_panda_teleop/package.xml
@@ -1,4 +1,5 @@
-
+
+
jsk_panda_teleop
1.1.0
Teleopration of dual-franka using TouchUSB
@@ -11,29 +12,31 @@
catkin
message_generation
- message_runtime
- rospy
+ message_runtime
+ rospy
- franka_description
- franka_msgs
- franka_gripper
- franka_control
- franka_example_controllers
- franka_visualization
+ franka_description
+ franka_msgs
+ franka_gripper
+ franka_control
+ franka_example_controllers
+ franka_visualization
- omni_common
- omni_msgs
+ omni_common
+ omni_msgs
- python-scipy
- python-numpy
- python-absl-py-pip
+ python-scipy
+ python3-scipy
+ python-numpy
+ python3-numpy
+ python-absl-py-pip
- jsk_panda_startup
- jsk_teleop_joy
+ jsk_panda_startup
+ jsk_teleop_joy
- audio_capture
- audio_play
- audio_common_msgs
- sound_classification
+ audio_capture
+ audio_play
+ audio_common_msgs
+ sound_classification
diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py
index 6d82d430571..547df4c7ada 100755
--- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py
+++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py
@@ -31,6 +31,7 @@ def speak(self, speak_str):
msg.sound = SoundRequest.SAY
msg.command = SoundRequest.PLAY_ONCE
msg.arg = speak_str
+ msg.volume = 1.0
self.speak_pub.publish(msg)
def restart_service_callback(self, req):
@@ -76,14 +77,15 @@ def restart_openni_node(self):
# 1. kill nodelet manager
self.speak("something wrong with kinect, I'll restart it, killing nodelet manager")
retcode = subprocess.call('rosnode kill /%s/%s_nodelet_manager' % (self.camera, self.camera), shell=True)
- time.sleep(10)
- # 2. pkill
- self.speak("killing child processes")
retcode = subprocess.call('pkill -f %s_nodelet_manager' % self.camera, shell=True)
- time.sleep(10)
+ # time.sleep(10)
+ # 2. pkill
+ # self.speak("killing child processes")
+ # retcode = subprocess.call('pkill -f %s_nodelet_manager' % self.camera, shell=True)
+ # time.sleep(10)
# 3 restarting
- self.speak("restarting processes")
- retcode = subprocess.call('roslaunch openni_launch openni.launch camera:=%s publish_tf:=false depth_registration:=true rgb_processing:=false ir_processing:=false depth_processing:=false depth_registered_processing:=false disparity_processing:=false disparity_registered_processing:=false hw_registered_processing:=true sw_registered_processing:=false rgb_frame_id:=/head_mount_kinect_rgb_optical_frame depth_frame_id:=/head_mount_kinect_ir_optical_frame' % self.camera, shell=True)
+ # self.speak("restarting processes")
+ # retcode = subprocess.call('roslaunch openni_launch openni.launch camera:=%s publish_tf:=false depth_registration:=true rgb_processing:=false ir_processing:=false depth_processing:=false depth_registered_processing:=false disparity_processing:=false disparity_registered_processing:=false hw_registered_processing:=true sw_registered_processing:=false rgb_frame_id:=/head_mount_kinect_rgb_optical_frame depth_frame_id:=/head_mount_kinect_ir_optical_frame' % self.camera, shell=True)
except Exception as e:
rospy.logerr('[%s] Unable to kill kinect node, caught exception:\n%s', self.__class__.__name__, traceback.format_exc())
diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/kinect_head.launch b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/kinect_head.launch
index 500a142bf11..d312d3d69ff 100644
--- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/kinect_head.launch
+++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/kinect_head.launch
@@ -1,5 +1,6 @@
+
@@ -26,12 +27,13 @@
-
+
diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/manager.launch.xml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/manager.launch.xml
new file mode 100644
index 00000000000..2cd52bb2a97
--- /dev/null
+++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/manager.launch.xml
@@ -0,0 +1,31 @@
+
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diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/openni.launch b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/openni.launch
new file mode 100644
index 00000000000..795cd90d49a
--- /dev/null
+++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/openni.launch
@@ -0,0 +1,122 @@
+
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diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch
index 87364c95dd7..ab86da4d699 100644
--- a/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch
+++ b/jsk_robot_common/jsk_robot_startup/lifelog/common_logger.launch
@@ -11,6 +11,7 @@
+
@@ -315,6 +316,48 @@
+
+
+
+ topics:
+ - /aws_auto_checkin_app/class
+ - /aws_detect_faces/attributes
+
+
+
+
+
+
+ topics:
+ - /dialogflow_client/text_action/goal
+ - /dialogflow_client/text_action/result
+
+
+
+
+
+
+ topics:
+ - /google_chat_ros/send/goal
+ - /google_chat_ros/send/result
+ - /google_chat_ros/message_activity
+ - /google_chat_ros
+ - /google_chat_ros/card_activity
+
+
+