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[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

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[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

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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
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6 changes: 6 additions & 0 deletions jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml
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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
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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" />
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27 changes: 20 additions & 7 deletions jsk_robot_common/jsk_robot_startup/launch/lifelog.launch
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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>

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28 changes: 28 additions & 0 deletions jsk_robot_common/jsk_robot_startup/launch/sample_database_talker.launch
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@@ -0,0 +1,28 @@
<launch>
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@k-okada k-okada Nov 1, 2023

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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。

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@tkmtnt7000 tkmtnt7000 Nov 1, 2023

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これもarg & ifにします．

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@tkmtnt7000 tkmtnt7000 Nov 1, 2023

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65d5ce9
で対応しました

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@tkmtnt7000 tkmtnt7000 Nov 1, 2023

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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>