[WIP] Unitree emotion reaction

[k-okada]

No description provided.

[mqcmd196]

@a-ichikura さっきの動画編集できたらここに貼ってください

[k-okada]

@mqcmd196 please help @a-ichikura to clean up her workspace using https://github.com/k-okada/jsk_robot/tree/emotion_reaction
@a-ichikura please update 51da7fc#diff-04b3ef2009f44e27bf36915f1be242cb78a1ed7eaac823e16c005c2d7da949a6 logo

[a-ichikura]

I found the diff you edited

diff --git a/jsk_unitree_robot/cross/build_user.sh b/jsk_unitree_robot/cross/build_user.sh
index 9ac9c3e1..d00f1912 100755
--- a/jsk_unitree_robot/cross/build_user.sh
+++ b/jsk_unitree_robot/cross/build_user.sh
@@ -28,7 +28,7 @@ mkdir -p ${SOURCE_ROOT}/src/jsk_robot
 rsync -avzh --delete --exclude 'jsk_unitree_robot/cross*' --exclude "go1.l" --exclude "go1-simple.l" ../../../jsk_robot ${SOURCE_ROOT}/src/
 
 # ingore non-related packages
-for dir in $(find ${SOURCE_ROOT}/src/jsk_robot -maxdepth 1 -type d); do
+for dir in $(find ${SOURCE_ROOT}/src/jsk_robot -maxdepth 1 -mindepth 1 -type d); do
     if [[ ! $dir =~ ${TARGET_ROBOT}|jsk_robot_common ]]; then
         touch $dir/CATKIN_IGNORE
     fi
diff --git a/jsk_unitree_robot/jsk_unitree_startup/autostart/jsk_startup.sh b/jsk_unitree_robot/jsk_unitree_startup/autostart/jsk_startup.sh
index 2901e3c0..f6f671fd 100755
--- a/jsk_unitree_robot/jsk_unitree_startup/autostart/jsk_startup.sh
+++ b/jsk_unitree_robot/jsk_unitree_startup/autostart/jsk_startup.sh
@@ -17,6 +17,7 @@ if [ "$ROS_IP" == "192.168.123.161" ];then
     roslaunch --screen sound_play soundplay_node.launch sound_play:=robotsound &
     roslaunch --screen jsk_unitree_startup rwt_app_chooser.launch &
     roslaunch --screen jsk_unitree_startup rosserial_node.launch &
+    roslaunch --screen respeaker_ros sample_respeaker.launch language:=ja-JP &
 fi
 
 if [ "$ROS_IP" == "192.168.123.14" ];then
diff --git a/jsk_unitree_robot/jsk_unitree_startup/launch/unitree_bringup.launch b/jsk_unitree_robot/jsk_unitree_startup/launch/unitree_bringup.launch
index abc029de..6ae4f34c 100644
--- a/jsk_unitree_robot/jsk_unitree_startup/launch/unitree_bringup.launch
+++ b/jsk_unitree_robot/jsk_unitree_startup/launch/unitree_bringup.launch
@@ -33,10 +33,6 @@
 
   <include file="$(find app_manager)/launch/app_manager.launch" />
 
-  <include file="$(find respeaker_ros)/launch/sample_respeaker.launch" >
-    <arg name="language" value="ja-JP" />
-  </include>
-
   <!-- let people to know unitree is bringup -->
   <node pkg="jsk_unitree_startup" type="wakeup.l"
         name="wakeup" output="log" />
diff --git a/jsk_unitree_robot/jsk_unitree_startup/package.xml b/jsk_unitree_robot/jsk_unitree_startup/package.xml
index 000f3382..9723686b 100644
--- a/jsk_unitree_robot/jsk_unitree_startup/package.xml
+++ b/jsk_unitree_robot/jsk_unitree_startup/package.xml
@@ -15,6 +15,7 @@
   <run_depend>app_manager</run_depend>
   <run_depend>rosserial_python</run_depend>
   <run_depend>teleop_twist_joy</run_depend>
+  <run_depend>respeaker_ros</run_depend>
 
   <!-- for diagnostic aggregator -->
   <run_depend>diagnostic_aggregator</run_depend>

and file added

# cross/hoge.sh
TARGET_MACHINE="${TARGET_MACHINE:-arm64v8}"
SOURCE_ROOT=${TARGET_MACHINE}_User

TARGET_ROBOT="${TARGET_ROBOT:-unitree}"

for dir in $(find ${SOURCE_ROOT}/src/jsk_robot -maxdepth 1 -type d); do
    if [[ ! $dir =~ ${TARGET_ROBOT}|jsk_robot_common ]]; then
	echo "touch $dir/CATKIN_IGNORE"
    fi
done

Is it okay to reset all?

[a-ichikura]

Please close this PR (#49 )