diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index f27e401366..6fd0ba00d2 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -1,43 +1,9 @@
 #!/usr/bin/env bash
 
-. $HOME/ros/melodic/devel/setup.bash
-# Filename should end with .txt to preview the contents in a web browser
-LOGFILE=$HOME/ros/melodic/update_workspace.txt
-
-{
-set -x
-# Update workspace
-cd $HOME/ros/melodic/src
-ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $HOME/ros/melodic/src/.rosinstall
-wstool foreach --git 'git stash'
-wstool update --delete-changed-uris
-WSTOOL_UPDATE_RESULT=$?
-cd $HOME/ros/melodic
-catkin clean aques_talk collada_urdf_jsk_patch -y
-catkin init
-catkin config -DCMAKE_BUILD_TYPE=Release
-catkin build
-CATKIN_BUILD_RESULT=$?
-# Send mail
-MAIL_BODY=""
-if [ $WSTOOL_UPDATE_RESULT -ne 0 ]; then
-    MAIL_BODY=$MAIL_BODY"Please wstool update workspace manually. "
-fi
-if [ $CATKIN_BUILD_RESULT -ne 0 ]; then
-    MAIL_BODY=$MAIL_BODY"Please catkin build workspace manually."
-fi
-set +x
-} > $LOGFILE 2>&1
-if [ -n "$MAIL_BODY" ]; then
-   rostopic pub -1 /email jsk_robot_startup/Email "header:
-  seq: 0
-  stamp: {secs: 0, nsecs: 0}
-  frame_id: ''
-subject: 'Daily workspace update fails'
-body: '$MAIL_BODY'
-sender_address: '$(hostname)@jsk.imi.i.u-tokyo.ac.jp'
-receiver_address: 'fetch@jsk.imi.i.u-tokyo.ac.jp'
-smtp_server: ''
-smtp_port: ''
-attached_files: ['$LOGFILE']"
-fi
+cp $(rospack find jsk_robot_startup)/scripts/update_workspace_main.sh /tmp/update_workspace.sh
+# jsk_footstep_planner is not released for melodic
+# jsk_footstep_controller is not released for melodic
+# librealsense2 should not be installed from ROS repository
+# realsense-ros should not be installed from ROS repository
+/tmp/update_workspace.sh -r $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO -t fetch -s "jsk_footstep_controller jsk_footstep_planner librealsense2 realsense2_camera realsense2_description"
+rm /tmp/update_workspace.sh
diff --git a/jsk_pr2_robot/jsk_pr2_startup/apps/tweet/tweet.app b/jsk_pr2_robot/jsk_pr2_startup/apps/tweet/tweet.app
index ac930d0528..ec8ff6dae9 100644
--- a/jsk_pr2_robot/jsk_pr2_startup/apps/tweet/tweet.app
+++ b/jsk_pr2_robot/jsk_pr2_startup/apps/tweet/tweet.app
@@ -1,6 +1,7 @@
 display: PR2 Tweet
 description: PR2 likes tweeting
 platform: pr2
-launch: jsk_pr2_startup/tweet.xml
+# launch: jsk_pr2_startup/tweet.xml
+run: jsk_pr2_startup/tweet.l
 interface: jsk_pr2_startup/tweet.interface
 icon: jsk_pr2_startup/tweet.png
diff --git a/jsk_pr2_robot/jsk_pr2_startup/apps/tweet/tweet.l b/jsk_pr2_robot/jsk_pr2_startup/apps/tweet/tweet.l
old mode 100644
new mode 100755
diff --git a/jsk_pr2_robot/jsk_pr2_startup/config/jsk_startup.rviz b/jsk_pr2_robot/jsk_pr2_startup/config/jsk_startup.rviz
index ec5d660fe5..0c08b99a42 100644
--- a/jsk_pr2_robot/jsk_pr2_startup/config/jsk_startup.rviz
+++ b/jsk_pr2_robot/jsk_pr2_startup/config/jsk_startup.rviz
@@ -5,6 +5,8 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Diagnostics1/Power1
+        - /Vision1/NarrowStereoLeft1
+        - /Planning1/SmachImage1
       Splitter Ratio: 0.557554007
     Tree Height: 1855
   - Class: rviz/Selection
@@ -899,9 +901,9 @@ Visualization Manager:
           Enabled: false
           Invert Rainbow: false
           Max Color: 255; 255; 255
-          Max Intensity: 1.08762002
+          Max Intensity: 4096
           Min Color: 0; 0; 0
-          Min Intensity: 0.190980002
+          Min Intensity: 0
           Name: TiltScan
           Position Transformer: XYZ
           Queue Size: 10
@@ -976,6 +978,23 @@ Visualization Manager:
           Value: true
       Enabled: true
       Name: Vision
+    - Class: rviz/Group
+      Displays:
+        - Class: jsk_rviz_plugin/OverlayImage
+          Enabled: true
+          Name: SmachImage
+          Topic: /smach_image_publisher/image
+          Value: true
+          alpha: 0.850000024
+          height: 200
+          keep aspect ratio: true
+          left: 2700
+          overwrite alpha value: false
+          top: 50
+          transport hint: compressed
+          width: 600
+      Enabled: true
+      Name: Planning
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -1003,25 +1022,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 10.3789015
+      Distance: 8.56335258
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 1.27238953
-        Y: -0.646221399
-        Z: 1.45365202
+        X: 1.20282674
+        Y: 0.220421076
+        Z: 1.34202754
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.0500000007
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.00999999978
-      Pitch: 0.449796855
+      Pitch: 0.429796875
       Target Frame: base_link
       Value: Orbit (rviz)
-      Yaw: 0.113857321
+      Yaw: 0.71885699
     Saved: ~
 Window Geometry:
   Displays:
diff --git a/jsk_pr2_robot/jsk_pr2_startup/config/pr2_app_schedule.yaml b/jsk_pr2_robot/jsk_pr2_startup/config/pr2_app_schedule.yaml
new file mode 100644
index 0000000000..70b87582ec
--- /dev/null
+++ b/jsk_pr2_robot/jsk_pr2_startup/config/pr2_app_schedule.yaml
@@ -0,0 +1,23 @@
+# check use_sim_time
+- name: check_use_sim_time
+  app_name: jsk_robot_startup/check_use_sim_time
+  app_schedule:
+    start: every().hour.at(":00")
+# volume for monday
+- name: volume_zero_monday
+  app_name: jsk_robot_startup/volume_zero
+  app_schedule:
+    start: every().monday.at("12:00")
+- name: volume_reset_monday
+  app_name: jsk_robot_startup/volume_reset
+  app_schedule:
+    start: every().monday.at("16:00")
+# volume for tuesday
+- name: volume_zero_tuesday
+  app_name: jsk_robot_startup/volume_zero
+  app_schedule:
+    start: every().tuesday.at("12:00")
+- name: volume_reset_tuesday
+  app_name: jsk_robot_startup/volume_reset
+  app_schedule:
+    start: every().tuesday.at("16:00")
diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2.rosinstall b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2.rosinstall
index 3d7fe87744..0675f96ed3 100644
--- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2.rosinstall
+++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2.rosinstall
@@ -15,7 +15,7 @@
 - git:
     local-name: PR2/pr2_controllers
     uri: https://github.com/PR2/pr2_controllers.git
-    version: melodic-devel
+    version: 1.10.18
 # we need to install from source because pr2 is indigo
 - git:
     local-name: PR2/pr2_self_test
@@ -85,8 +85,8 @@
 # we need this for eus10 and roseus_resume
 - git:
     local-name: jsk-ros-pkg/jsk_pr2eus
-    uri: https://github.com/knorth55/jsk_pr2eus.git
-    version: pr1040
+    uri: https://github.com/jsk-ros-pkg/jsk_pr2eus.git
+    version: master 
 # we need to install from source because pr2 is indigo
 - git:
     local-name: jsk-ros-pkg/jsk_recognition
@@ -143,6 +143,11 @@
     uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/visualization_msgs/1.12.7-0.tar.gz
     version: common_msgs-release-release-kinetic-visualization_msgs-1.12.7-0
 # we need to install from source because pr2 is indigo
+- git:
+    local-name: ros-visualization/executive_smach_visualization
+    uri: https://github.com/ros-visualization/executive_smach_visualization.git
+    version: melodic-devel
+# we need to install from source because pr2 is indigo
 - git:
     local-name: ros-visualization/interactive_markers
     uri: https://github.com/ros-visualization/interactive_markers.git
diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/pr2_tweet.launch b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/pr2_tweet.launch
index 3e194c06b9..9adbd22bf3 100644
--- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/pr2_tweet.launch
+++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/pr2_tweet.launch
@@ -3,6 +3,7 @@
 
   <include file="$(find jsk_robot_startup)/lifelog/tweet.launch">
     <arg name="robot_name" value="PR2"/>
+    <arg name="image_topics" default="/edgetpu_human_pose_estimator/output/image" />
 
     <arg name="machine" value="c2"/>
     <arg name="output" value="screen"/>
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 547df4c7ad..f1b1d939b2 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
@@ -91,7 +91,7 @@ def restart_openni_node(self):
 
     def run(self):
         while not rospy.is_shutdown():
-            if self.image_sub == None or self.image_sub.impl == None:
+            if self.image_sub is None or self.image_sub.impl is None:
                 self.image_sub = rospy.Subscriber("image", Image, self.image_callback, None, 1)
             rospy.sleep(self.sleep_cycle)
 
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 d312d3d69f..c6864d75a0 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
@@ -234,9 +234,9 @@
   <group if="$(arg respawn)">
     <node pkg="jsk_pr2_startup" name="check_openni_node" type="check_openni_node.py"
           output="screen" machine="c1" if="$(arg monitor_driver)">
+      <remap from="image" to="/$(arg camera)/rgb/image_raw" />
       <param name="camera" value="$(arg camera)" />
       <param name="sleep_cycle" value="60" />
-      <remap from="image" to="/$(arg camera)/rgb/image_rect_color" />
     </node>
   </group>
 
diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/battery_logger.py b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/battery_logger.py
index ede2eb2e28..a8b118c019 100755
--- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/battery_logger.py
+++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/battery_logger.py
@@ -87,7 +87,13 @@ def write(self, date, info):
             rospy.logerr("{}".format(e))
             rospy.logerr("Could not write to dweet.io")
             return
-        assert res.ok and json.loads(res.content)["this"] == "succeeded"
+        try:
+            contents = json.loads(res.content)
+        except ValueError as e:
+            rospy.logerr("{}".format(e))
+            rospy.logerr("Request successed, but return value is invalid.")
+            return
+        assert res.ok and contents["this"] == "succeeded"
 
 
 class BatteryInfoAggregator(object):
diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/diagnostics_ethercat_summarizer.py b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/diagnostics_ethercat_summarizer.py
new file mode 100755
index 0000000000..3e8a6bf958
--- /dev/null
+++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/diagnostics_ethercat_summarizer.py
@@ -0,0 +1,34 @@
+#!/usr/bin/env python
+
+import rospy
+
+from diagnostic_msgs.msg import DiagnosticArray
+
+
+def callback(data):
+    flag = False
+    for e in data.status:
+        #EtherCAT Device
+        for v in e.values:
+            if v.key =='Drops':
+                flag = True
+                print(e.name + "Drops: {}".format(v.value))
+        #EtherCAT Master
+        if e.name == 'EtherCAT Master':
+            for v in e.values:
+                if v.key =='Dropped Packets':
+                    print(e.name + " Dropped Packets: {}".format(v.value))
+                if v.key =='RX Late Packet':
+                    print(e.name + " RX Late Packet: {}".format(v.value))
+
+    if flag:
+        print("--------------------------------------------")
+
+
+def listener():
+    rospy.init_node('diagnostics_ethercat_summarizer', anonymous=True)
+    rospy.Subscriber('/diagnostics', DiagnosticArray, callback)
+    rospy.spin()
+
+if __name__ == '__main__':
+    listener()
diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/diagnostics_rx_error_summarizer.py b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/diagnostics_rx_error_summarizer.py
new file mode 100755
index 0000000000..bf3da104ba
--- /dev/null
+++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/diagnostics_rx_error_summarizer.py
@@ -0,0 +1,87 @@
+#!/usr/bin/env python
+
+import csv
+import rospy
+import argparse
+from diagnostic_msgs.msg import DiagnosticArray
+
+
+class DiagnosticsRxErrorSummarizer():
+    def __init__(self, is_csv=False):
+        self.subscribe()
+        self.keys = ['timestamp']
+        self.count = 0
+        self.output_file = 'diagnostic_agg_rx_error.csv'
+        self.is_csv = is_csv
+
+    def subscribe(self):
+        self.sub = rospy.Subscriber("/diagnostics_agg",
+                                    DiagnosticArray,
+                                    self.callback,
+                                    queue_size=1)
+
+    def write_keys(self):
+        with open(self.output_file, 'w') as f:
+            writer = csv.writer(f)
+            writer.writerow(self.keys)
+
+    def write_values(self):
+        with open(self.output_file, 'a') as f:
+            writer = csv.writer(f)
+            writer.writerow(self.values)
+
+    def callback(self, msg):
+        status = msg.status
+        self.values = [msg.header.stamp.secs]
+        if self.is_csv:
+            print(self.count)
+            for s in status:
+                if 'values' not in dir(s):
+                    continue
+                for v in s.values:
+                    if 'RX Error' in v.key:
+                        if self.count == 0:
+                            self.keys.append(s.name + ' - ' + v.key)
+                            self.values.append(v.value)
+
+            if self.count == 0:
+                self.write_keys()
+            self.write_values()
+
+            self.count += 1
+        else:
+            flag = False
+            thre_val = 0
+            s_name_list = []
+            key_list = []
+            value_list = []
+            for s in status:
+                if 'values' not in dir(s):
+                    continue
+                for v in s.values:
+                    if 'RX Error' in v.key and not ('Forwarded' in v.key):
+                        print(s.name + " " + v.key + ": {}".format(v.value))
+                        if not ('Master' in s.name):
+                            flag = True
+                            if int(v.value) > thre_val:
+                                s_name_list.append(s.name)
+                                value_list.append(v.value)
+                                key_list.append(v.key)
+
+            if flag:
+                if len(s_name_list) > 0:
+                    print("[Eroor Exist Dvice]")
+                    for s_name, key, value in zip(s_name_list, key_list, value_list):
+                        print(s_name + " " + key + ": {}".format(value))
+                print("--------------------------------------------")
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--csv', action='store_true', help='save data in csv or not')
+    args = parser.parse_args()
+    is_csv= args.csv
+
+    rospy.init_node('diagnostics_rx_errror_summarizer', anonymous=True)
+    diagnostics_rx_errror_summarizer = DiagnosticsRxErrorSummarizer(is_csv=is_csv)
+    rospy.spin()
diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/jsk_pr2_analyzers.yaml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/jsk_pr2_analyzers.yaml
index b85284faef..2ee0419a4a 100644
--- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/jsk_pr2_analyzers.yaml
+++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/jsk_pr2_analyzers.yaml
@@ -6,9 +6,9 @@ analyzers:
       joystick:
         type: diagnostic_aggregator/GenericAnalyzer
         path: Joystick
-        expected: 'joy: Joystick Driver Status'
+        expected: 'joy_node: Joystick Driver Status'
         num_items: 1
-        remove_prefix: 'joy'
+        remove_prefix: 'joy_node'
       sound:
         type: diagnostic_aggregator/GenericAnalyzer
         path: Sound
diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/sanity_targets.yaml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/sanity_targets.yaml
new file mode 100644
index 0000000000..2b298ea54b
--- /dev/null
+++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/sanity_targets.yaml
@@ -0,0 +1,6 @@
+topics:
+  - /kinect_head/rgb/image_raw/compressed
+  - /kinect_head/depth_registered/image_raw/compressedDepth
+  - /edgetpu_human_pose_estimator/output/image/compressed
+  - /edgetpu_object_detector/output/image/compressed
+  - /audio
diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml
new file mode 100644
index 0000000000..4959e68d21
--- /dev/null
+++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml
@@ -0,0 +1,24 @@
+blacklist:
+  - name: "/Cameras/Forearm.*"
+  - name: "/Cameras/Narrow.*"
+  - name: "/Cameras/Prosilica"
+  - name: "/Cameras/Wide.*"
+  - name: "/Computers/CPU/c1 CPU Usage"
+  - name: "/Computers/CPU/c2 CPU Usage"
+  - name: "/Devices/Joystick/Joystick Driver Status"
+  - name: "/Devices/Sound"
+  - name: "/Joints/Joint.*"
+    message: "Uncalibrated"
+  - name: "/Other/Accelerometer.*"
+  - name: "/Other/NTP offset from"
+  - name: "/Other/Pressure sensors.*"
+  - name: "/Other/lifelog joint_states_logger: LightweightLogger:: lifelog joint_states_throttle output"
+  - name: "/Other/prosilica prosilica_nodelet_manager:  prosilica prosilica_driver"
+  - name: "/Power System/.*"
+  - name: "/Motors/EtherCAT.*"
+    message: "Safety Lockout.*"
+  - name: "/Realtime Controllers/Controller.*"
+  - name: "/Realtime Controllers/Calibration stuck"
+  - name: "/Computers/CPU/c\\d CPU Temperature"
+run_stop_blacklist:
+  - name: "/Motors.*"
diff --git a/jsk_pr2_robot/jsk_pr2_startup/pr2.launch b/jsk_pr2_robot/jsk_pr2_startup/pr2.launch
index 0d39447df2..47e5eede1d 100644
--- a/jsk_pr2_robot/jsk_pr2_startup/pr2.launch
+++ b/jsk_pr2_robot/jsk_pr2_startup/pr2.launch
@@ -32,6 +32,8 @@
        doc="whether launch gdrive_server on c1 or not."/>
   <arg name="launch_gdrive_server_c2" default="true"
        doc="whether launch gdrive_server on c2 or not."/>
+  <arg name="launch_app_scheduler" default="true"
+       doc="whether launch app_scheduler or not." />
   <arg name="USER_NAME" default="false" />
 
   <include file="$(find jsk_pr2_startup)/jsk_pr2.machine"
@@ -67,7 +69,9 @@
 
   <!-- kinect node -->
   <include if="$(arg launch_kinect)"
-           file="$(find jsk_pr2_startup)/jsk_pr2_sensors/kinect_head.launch" />
+           file="$(find jsk_pr2_startup)/jsk_pr2_sensors/kinect_head.launch" >
+    <arg name="monitor_driver" value="true" />  <!-- iory 2022/05/11-->
+  </include>
 
   <!-- logging node for PR2  -->
   <include if="$(arg launch_db)"
@@ -197,4 +201,67 @@
     <remap from="~input" to="/kinect_head/rgb/image_raw" />
   </node>
 
+  <node name="audible_warning"
+        pkg="jsk_tools" type="audible_warning.py"
+        clear_params="true"
+        output="screen" >
+    <rosparam command="load" file="$(find jsk_pr2_startup)/jsk_pr2_warning/warning_blacklist.yaml" />
+    <rosparam>
+      run_stop_topic: /power_board/state
+      run_stop_condition: "m.run_stop is False"
+      seconds_to_start_speaking: 60
+      speak_interval: 600
+      ignore_time_after_runstop_is_enabled: 5.0
+      ignore_time_after_runstop_is_disabled: 5.0
+    </rosparam>
+  </node>
+
+  <group ns="audible_warning" >
+    <!-- tweet with image -->
+    <node name="publish_to_tweet_server"
+          pkg="topic_tools" type="transform"
+          args="/audible_warning/output/original_text
+                /tweet_image_server/tweet/goal
+                rostwitter/TweetActionGoal
+                --wait-for-start
+                'rostwitter.msg.TweetActionGoal(goal=rostwitter.msg.TweetGoal(text=&quot;[Audible warning] &quot; + m.data, image=True, image_topic_name=&quot;/edgetpu_human_pose_estimator/output/image&quot;))'
+                --import rostwitter">
+    </node>
+  </group>
+
+  <node name="sanity_diagnostics"
+        pkg="jsk_tools" type="sanity_diagnostics.py" >
+    <rosparam command="load" file="$(find jsk_pr2_startup)/jsk_pr2_warning/sanity_targets.yaml" />
+    <rosparam subst_value="true">
+      duration: 60
+    </rosparam>
+  </node>
+
+  <!-- send email by rostopic -->
+  <node name="email_topic" pkg="jsk_robot_startup" type="email_topic.py" output="screen">
+    <rosparam>
+      email_info: /var/lib/robot/email_topic.yaml
+    </rosparam>
+  </node>
+
+  <!-- send email, twitter with smach -->
+  <node name="smach_to_mail" pkg="jsk_robot_startup" type="smach_to_mail.py" output="screen">
+    <remap from="~smach/container_status" to="/server_name/smach/container_status" />
+    <rosparam command="load" file="/var/lib/robot/email_topic.yaml" />
+  </node>
+
+  <!-- publish smach image -->
+  <node name="smach_image_publisher" pkg="smach_viewer" type="smach_image_publisher.py"
+        output="screen">
+    <rosparam>
+      duration: 0.5
+    </rosparam>
+  </node>
+
+  <!-- app scheduler -->
+  <include if="$(arg launch_app_scheduler)"
+           file="$(find app_scheduler)/launch/app_scheduler.launch">
+    <arg name="yaml_path" value="$(find jsk_pr2_startup)/config/pr2_app_schedule.yaml" />
+  </include>
+
 </launch>
diff --git a/jsk_pr2_robot/jsk_pr2_startup/pr2_bringup.launch b/jsk_pr2_robot/jsk_pr2_startup/pr2_bringup.launch
index a174da7b42..8ff9825400 100644
--- a/jsk_pr2_robot/jsk_pr2_startup/pr2_bringup.launch
+++ b/jsk_pr2_robot/jsk_pr2_startup/pr2_bringup.launch
@@ -240,7 +240,7 @@
     <param name="sensor_timeout" value="1.0"/>
     <param name="publish_tf" value="true"/>
     <param name="odom_used" value="true"/>
-    <param name="imu_used" value="true"/>
+    <param name="imu_used" value="false"/>
     <param name="vo_used" value="false"/>
     <remap from="odom" to="base_odometry/odom" />
     <remap from="imu_data" to="torso_lift_imu/data" />
diff --git a/jsk_pr2_robot/jsk_pr2_startup/pr2_gazebo.launch b/jsk_pr2_robot/jsk_pr2_startup/pr2_gazebo.launch
index 5d576705c4..25230efe12 100644
--- a/jsk_pr2_robot/jsk_pr2_startup/pr2_gazebo.launch
+++ b/jsk_pr2_robot/jsk_pr2_startup/pr2_gazebo.launch
@@ -142,7 +142,7 @@
     <arg name="map_frame" value="$(arg map_frame)" />
     <arg name="launch_map" value="$(arg launch_map)" />
     <arg name="launch_kinect" value="false" />
-    <arg name="launch_db" value="true" />
+    <arg name="launch_db" value="false" />
     <arg name="launch_c3_startup" value="false" />
     <arg name="launch_gripper_sensor" value="false" />
     <arg name="launch_microphone" value="false" />
@@ -154,6 +154,7 @@
     <arg name="launch_twitter" value="false" />
     <arg name="launch_visualize_log" value="false" />
     <arg name="slow_camera_framerate" value="false" />
+    <arg name="launch_dialogflow_task_executive" value="false" />
     <arg name="launch_gdrive_server_c1" value="false" />
     <arg name="launch_gdrive_server_c2" value="false" />
   </include>
diff --git a/jsk_pr2_robot/jsk_pr2_startup/sample/pr2_gazebo_empty_world.launch b/jsk_pr2_robot/jsk_pr2_startup/sample/pr2_gazebo_empty_world.launch
new file mode 100644
index 0000000000..c44fc2f3f7
--- /dev/null
+++ b/jsk_pr2_robot/jsk_pr2_startup/sample/pr2_gazebo_empty_world.launch
@@ -0,0 +1,22 @@
+<launch>
+  <arg name="INITIAL_POSE_X" default="0.0" />
+  <arg name="INITIAL_POSE_Y" default="0.0" />
+  <arg name="INITIAL_POSE_YAW" default="0.0" />
+  <include file="$(find jsk_pr2_startup)/pr2_gazebo.launch">
+    <arg name="map_frame" value="empty_world" />
+    <arg name="world" value="worlds/empty.world" />
+    <arg name="INITIAL_POSE_X" value="$(arg INITIAL_POSE_X)" />
+    <arg name="INITIAL_POSE_Y" value="$(arg INITIAL_POSE_Y)" />
+    <arg name="INITIAL_POSE_YAW" value="$(arg INITIAL_POSE_YAW)" />
+  </include>
+
+  <node name="initial_pose_publisher" output="screen"
+        pkg="jsk_robot_startup" type="initialpose_publisher.l">
+    <rosparam subst_value="true">
+      transform_frame: /map
+      initial_pose_x: $(arg INITIAL_POSE_X)
+      initial_pose_y: $(arg INITIAL_POSE_Y)
+      initial_pose_yaw: $(arg INITIAL_POSE_YAW)
+    </rosparam>
+  </node>
+</launch>
diff --git a/jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh b/jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh
new file mode 100755
index 0000000000..3dbf85dd09
--- /dev/null
+++ b/jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh
@@ -0,0 +1,5 @@
+#!/usr/bin/env bash
+
+cp $(rospack find jsk_robot_startup)/scripts/update_workspace_main.sh /tmp/update_workspace.sh
+/tmp/update_workspace.sh -w $HOME/ros/indigo -r $(rospack find jsk_pr2_startup)/jsk_pr2.rosinstall -t pr2 -u
+rm /tmp/update_workspace.sh
diff --git a/jsk_robot_common/jsk_robot_startup/apps/check_use_sim_time/check_use_sim_time.app b/jsk_robot_common/jsk_robot_startup/apps/check_use_sim_time/check_use_sim_time.app
index aab3f89f5a..5870ad309a 100644
--- a/jsk_robot_common/jsk_robot_startup/apps/check_use_sim_time/check_use_sim_time.app
+++ b/jsk_robot_common/jsk_robot_startup/apps/check_use_sim_time/check_use_sim_time.app
@@ -1,5 +1,6 @@
 display: Check /use_sim_time param 
 platform: all
-launch: jsk_robot_startup/check_use_sim_time.xml
+run: jsk_robot_startup/check_use_sim_time.py
+# launch: jsk_robot_startup/check_use_sim_time.xml
 interface: jsk_robot_startup/check_use_sim_time.interface
 icon: jsk_robot_startup/check_use_sim_time.png
diff --git a/jsk_robot_common/jsk_robot_startup/apps/personal_use/personal_use.app b/jsk_robot_common/jsk_robot_startup/apps/personal_use/personal_use.app
index e5eea4894f..1a64fabc2d 100644
--- a/jsk_robot_common/jsk_robot_startup/apps/personal_use/personal_use.app
+++ b/jsk_robot_common/jsk_robot_startup/apps/personal_use/personal_use.app
@@ -1,5 +1,7 @@
 display: Personal Use
 platform: all
-launch: jsk_robot_startup/personal_use.xml
+run: jsk_robot_startup/personal_use.py
+# launch: jsk_robot_startup/personal_use.xml
 interface: jsk_robot_startup/personal_use.interface
 icon: jsk_robot_startup/personal_use.png
+allow_parallel: false
diff --git a/jsk_robot_common/jsk_robot_startup/apps/robot_apps.installed b/jsk_robot_common/jsk_robot_startup/apps/robot_apps.installed
index e142d9282c..1350da5b19 100644
--- a/jsk_robot_common/jsk_robot_startup/apps/robot_apps.installed
+++ b/jsk_robot_common/jsk_robot_startup/apps/robot_apps.installed
@@ -1,5 +1,15 @@
 apps:
   - app: jsk_robot_startup/personal_use
-    display: Personal use 
+    display: Personal use
   - app: jsk_robot_startup/check_use_sim_time
     display: Check /use_sim_time param
+  - app: jsk_robot_startup/roseus_resume_interrupt
+    display: Interrupt
+  - app: jsk_robot_startup/roseus_resume_resume
+    display: Resume
+  - app: jsk_robot_startup/volume_lower
+    display: Volume lower
+  - app: jsk_robot_startup/volume_reset
+    display: Volume reset
+  - app: jsk_robot_startup/volume_zero
+    display: Volume zero
diff --git a/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.app b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.app
new file mode 100644
index 0000000000..d6ea2dad0f
--- /dev/null
+++ b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.app
@@ -0,0 +1,6 @@
+display: Interrupt
+platform: all
+run: rostopic/rostopic
+run_args: "pub -1 /roseus_resume/interrupt std_msgs/Empty"
+interface: jsk_robot_startup/roseus_resume_interrupt.interface
+icon: jsk_robot_startup/roseus_resume_interrupt.png
diff --git a/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.interface b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.interface
new file mode 100644
index 0000000000..044105d644
--- /dev/null
+++ b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.interface
@@ -0,0 +1,2 @@
+published_topics: {}
+subscribed_topics: {}
diff --git a/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.png b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.png
new file mode 100644
index 0000000000..352d08ee47
Binary files /dev/null and b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_interrupt/roseus_resume_interrupt.png differ
diff --git a/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_resume/roseus_resume_resume.app b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_resume/roseus_resume_resume.app
new file mode 100644
index 0000000000..c21b0d3a49
--- /dev/null
+++ b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_resume/roseus_resume_resume.app
@@ -0,0 +1,6 @@
+display: Resume
+platform: all
+run: rostopic/rostopic
+run_args: "pub -1 /roseus_resume/resume std_msgs/Empty"
+interface: jsk_robot_startup/roseus_resume_resume.interface
+icon: jsk_robot_startup/roseus_resume_resume.png
diff --git a/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_resume/roseus_resume_resume.interface b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_resume/roseus_resume_resume.interface
new file mode 100644
index 0000000000..044105d644
--- /dev/null
+++ b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_resume/roseus_resume_resume.interface
@@ -0,0 +1,2 @@
+published_topics: {}
+subscribed_topics: {}
diff --git a/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_resume/roseus_resume_resume.png b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_resume/roseus_resume_resume.png
new file mode 100644
index 0000000000..235869778e
Binary files /dev/null and b/jsk_robot_common/jsk_robot_startup/apps/roseus_resume_resume/roseus_resume_resume.png differ
diff --git a/jsk_robot_common/jsk_robot_startup/apps/volume_lower/volume_lower.app b/jsk_robot_common/jsk_robot_startup/apps/volume_lower/volume_lower.app
new file mode 100644
index 0000000000..e9648c034f
--- /dev/null
+++ b/jsk_robot_common/jsk_robot_startup/apps/volume_lower/volume_lower.app
@@ -0,0 +1,6 @@
+display: Volume Lower
+description: robot speaks lower volume
+platform: all
+run: jsk_robot_startup/auto_speak_volume_lower.l
+interface: jsk_robot_startup/volume_lower.interface
+icon: jsk_robot_startup/volume_lower.png
\ No newline at end of file
diff --git a/jsk_robot_common/jsk_robot_startup/apps/volume_lower/volume_lower.interface b/jsk_robot_common/jsk_robot_startup/apps/volume_lower/volume_lower.interface
new file mode 100644
index 0000000000..5cb4ae9816
--- /dev/null
+++ b/jsk_robot_common/jsk_robot_startup/apps/volume_lower/volume_lower.interface
@@ -0,0 +1,2 @@
+published_topics: {}
+subscribed_topics: {}
\ No newline at end of file
diff --git a/jsk_robot_common/jsk_robot_startup/apps/volume_lower/volume_lower.png b/jsk_robot_common/jsk_robot_startup/apps/volume_lower/volume_lower.png
new file mode 100644
index 0000000000..d79825e859
Binary files /dev/null and b/jsk_robot_common/jsk_robot_startup/apps/volume_lower/volume_lower.png differ
diff --git a/jsk_robot_common/jsk_robot_startup/apps/volume_reset/volume_reset.app b/jsk_robot_common/jsk_robot_startup/apps/volume_reset/volume_reset.app
new file mode 100644
index 0000000000..9b71b6cfb6
--- /dev/null
+++ b/jsk_robot_common/jsk_robot_startup/apps/volume_reset/volume_reset.app
@@ -0,0 +1,6 @@
+display: Volume Reset
+description: robot speaks reset volume
+platform: all
+run: jsk_robot_startup/auto_speak_volume_reset.l
+interface: jsk_robot_startup/volume_reset.interface
+icon: jsk_robot_startup/volume_reset.png
\ No newline at end of file
diff --git a/jsk_robot_common/jsk_robot_startup/apps/volume_reset/volume_reset.interface b/jsk_robot_common/jsk_robot_startup/apps/volume_reset/volume_reset.interface
new file mode 100644
index 0000000000..5cb4ae9816
--- /dev/null
+++ b/jsk_robot_common/jsk_robot_startup/apps/volume_reset/volume_reset.interface
@@ -0,0 +1,2 @@
+published_topics: {}
+subscribed_topics: {}
\ No newline at end of file
diff --git a/jsk_robot_common/jsk_robot_startup/apps/volume_reset/volume_reset.png b/jsk_robot_common/jsk_robot_startup/apps/volume_reset/volume_reset.png
new file mode 100644
index 0000000000..d9dbfbc14f
Binary files /dev/null and b/jsk_robot_common/jsk_robot_startup/apps/volume_reset/volume_reset.png differ
diff --git a/jsk_robot_common/jsk_robot_startup/apps/volume_zero/volume_zero.app b/jsk_robot_common/jsk_robot_startup/apps/volume_zero/volume_zero.app
new file mode 100644
index 0000000000..99cc7aecb2
--- /dev/null
+++ b/jsk_robot_common/jsk_robot_startup/apps/volume_zero/volume_zero.app
@@ -0,0 +1,6 @@
+display: Volume Zero
+description: robot speaks zero volume
+platform: all
+run: jsk_robot_startup/auto_speak_volume_zero.l
+interface: jsk_robot_startup/volume_zero.interface
+icon: jsk_robot_startup/volume_zero.png
\ No newline at end of file
diff --git a/jsk_robot_common/jsk_robot_startup/apps/volume_zero/volume_zero.interface b/jsk_robot_common/jsk_robot_startup/apps/volume_zero/volume_zero.interface
new file mode 100644
index 0000000000..5cb4ae9816
--- /dev/null
+++ b/jsk_robot_common/jsk_robot_startup/apps/volume_zero/volume_zero.interface
@@ -0,0 +1,2 @@
+published_topics: {}
+subscribed_topics: {}
\ No newline at end of file
diff --git a/jsk_robot_common/jsk_robot_startup/apps/volume_zero/volume_zero.png b/jsk_robot_common/jsk_robot_startup/apps/volume_zero/volume_zero.png
new file mode 100644
index 0000000000..cb736a528e
Binary files /dev/null and b/jsk_robot_common/jsk_robot_startup/apps/volume_zero/volume_zero.png differ
diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_lower.l b/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_lower.l
new file mode 100755
index 0000000000..48c236a58c
--- /dev/null
+++ b/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_lower.l
@@ -0,0 +1,14 @@
+#!/usr/bin/env roseus
+
+(ros::roseus "speak_volume_lower")
+(ros::set-dynamic-reconfigure-param "/audible_warning" "enable" :bool t)
+(ros::set-dynamic-reconfigure-param "/tweet_client_tablet" "speak_enable" :bool t)
+(ros::set-dynamic-reconfigure-param "/tweet_client_uptime" "speak_enable" :bool t)
+(ros::set-dynamic-reconfigure-param "/tweet_client_warning" "speak_enable" :bool t)
+(ros::set-dynamic-reconfigure-param "/tweet_client_worktime" "speak_enable" :bool t)
+(ros::set-dynamic-reconfigure-param "/audible_warning" "volume" :double 0.2)
+(ros::set-dynamic-reconfigure-param "/tweet_client_tablet" "volume" :double 0.2)
+(ros::set-dynamic-reconfigure-param "/tweet_client_uptime" "volume" :double 0.2)
+(ros::set-dynamic-reconfigure-param "/tweet_client_warning" "volume" :double 0.2)
+(ros::set-dynamic-reconfigure-param "/tweet_client_worktime" "volume" :double 0.2)
+(exit)
diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_reset.l b/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_reset.l
new file mode 100755
index 0000000000..a57c51c262
--- /dev/null
+++ b/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_reset.l
@@ -0,0 +1,14 @@
+#!/usr/bin/env roseus
+
+(ros::roseus "speak_volume_reset")
+(ros::set-dynamic-reconfigure-param "/audible_warning" "enable" :bool t)
+(ros::set-dynamic-reconfigure-param "/tweet_client_tablet" "speak_enable" :bool t)
+(ros::set-dynamic-reconfigure-param "/tweet_client_uptime" "speak_enable" :bool t)
+(ros::set-dynamic-reconfigure-param "/tweet_client_warning" "speak_enable" :bool t)
+(ros::set-dynamic-reconfigure-param "/tweet_client_worktime" "speak_enable" :bool t)
+(ros::set-dynamic-reconfigure-param "/audible_warning" "volume" :double 1.0)
+(ros::set-dynamic-reconfigure-param "/tweet_client_tablet" "volume" :double 1.0)
+(ros::set-dynamic-reconfigure-param "/tweet_client_uptime" "volume" :double 1.0)
+(ros::set-dynamic-reconfigure-param "/tweet_client_warning" "volume" :double 1.0)
+(ros::set-dynamic-reconfigure-param "/tweet_client_worktime" "volume" :double 1.0)
+(exit)
diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_zero.l b/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_zero.l
new file mode 100755
index 0000000000..e0bb7d2c43
--- /dev/null
+++ b/jsk_robot_common/jsk_robot_startup/lifelog/auto_speak_volume_zero.l
@@ -0,0 +1,14 @@
+#!/usr/bin/env roseus
+
+(ros::roseus "speak_volume_zero")
+(ros::set-dynamic-reconfigure-param "/audible_warning" "enable" :bool nil)
+(ros::set-dynamic-reconfigure-param "/tweet_client_tablet" "speak_enable" :bool nil)
+(ros::set-dynamic-reconfigure-param "/tweet_client_uptime" "speak_enable" :bool nil)
+(ros::set-dynamic-reconfigure-param "/tweet_client_warning" "speak_enable" :bool nil)
+(ros::set-dynamic-reconfigure-param "/tweet_client_worktime" "speak_enable" :bool nil)
+(ros::set-dynamic-reconfigure-param "/audible_warning" "volume" :double 0.0)
+(ros::set-dynamic-reconfigure-param "/tweet_client_tablet" "volume" :double 0.0)
+(ros::set-dynamic-reconfigure-param "/tweet_client_uptime" "volume" :double 0.0)
+(ros::set-dynamic-reconfigure-param "/tweet_client_warning" "volume" :double 0.0)
+(ros::set-dynamic-reconfigure-param "/tweet_client_worktime" "volume" :double 0.0)
+(exit)
diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet.launch b/jsk_robot_common/jsk_robot_startup/lifelog/tweet.launch
index b22b0d066c..827bef6832 100644
--- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet.launch
+++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet.launch
@@ -27,12 +27,21 @@
         output="$(arg output)" respawn="true" >
   </node>
 
+  <node name="tweet_image_server" pkg="rostwitter" type="tweet_image_server.py"
+        machine="$(arg machine)"
+        output="$(arg output)" respawn="true" >
+    <rosparam subst_value="true">
+      account_info: $(arg account_info)
+    </rosparam>
+  </node>
+
   <node name="tweet_image_mux" pkg="topic_tools" type="mux"
         args="/tweet_image $(arg image_topics)"
         machine="$(arg machine)">
     <remap from="mux" to="tweet_image_mux" />
     <param name="lazy" value="true" />
   </node>
+
   <!--
   <node name="tweet_image_saver" pkg="image_view" type="image_saver"
         machine="$(arg machine)">
@@ -42,6 +51,7 @@
     <param name="image_transport" value="raw" />
   </node>
   -->
+
   <node name="active_user" pkg="roseus"
         type="roseus" args="$(find jsk_robot_startup)/lifelog/active_user.l"
         machine="$(arg machine)"
diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l
index fd6ea807a4..d1484d4e5f 100755
--- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l
+++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client.l
@@ -6,7 +6,8 @@
 
 (load "package://pr2eus/speak.l")
 
-(defun tweet-string (twit-str &key (warning-time) (with-image) (image-wait 30) (speak t))
+(defun tweet-string (twit-str &key (warning-time) (with-image) (image-wait 30) (speak t)
+                              (volume 1.0))
   (let (prev-image-topic img)
   (when warning-time
     (unless (numberp warning-time)
@@ -25,15 +26,17 @@
                           (8 "はち")
                           (9 "きゅう")
                           (10 "じゅう")
-                          (t "じゅういじょう")))))
+                          (t "じゅういじょう")))
+                :volume volume))
     (unix::sleep warning-time))
 
   (cond
     (with-image
       (unix::system (format nil "rm -f /tmp/tweet_image.jpg"))
       ;; camera shot sound
-      (play-sound (pathname (ros::resolve-ros-path "package://jsk_pr2_startup/jsk_pr2_lifelog/camera.wav"))
-                  :topic-name "robotsound_jp" :wait t)
+      (when speak
+        (play-sound (pathname (ros::resolve-ros-path "package://jsk_pr2_startup/jsk_pr2_lifelog/camera.wav"))
+                    :topic-name "robotsound_jp" :wait t :volume volume))
       ;; specify camera
       (when (stringp with-image)
         (ros::wait-for-service "/tweet_image_mux/list")
@@ -61,5 +64,5 @@
       (ros::service-call "/tweet_image_mux/select" (instance topic_tools::muxselectrequest :init :topic prev-image-topic)))
     (t
       (ros::publish "/tweet" (instance std_msgs::String :init :data twit-str))))
-  (when speak (speak-jp "ついーとしました" :wait t))))
+  (when speak (speak-jp "ついーとしました" :wait t :volume volume))))
 
diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_tablet.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_tablet.l
index ed1be21a4e..aa168feb11 100755
--- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_tablet.l
+++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_tablet.l
@@ -3,13 +3,42 @@
 (ros::roseus "twitter_client_tablet")
 (ros::roseus-add-msgs "roseus")
 
+(load "package://roseus/euslisp/dynamic-reconfigure-server.l")
 (load "package://jsk_robot_startup/lifelog/tweet_client.l")
 
+(setq *volume* (ros::get-param "~volume" 1.0))
+(setq *speak-enable* (ros::get-param "~speak_enable" t))
+(setq *enable* (ros::get-param "~enable" t))
+(setq *reconfigure-server*
+      (def-dynamic-reconfigure-server
+        ;;; ((name type level description (default) (min) (max) (edit_method)) ... )
+        (("volume"  double_t  0  "tweet speak volume" 1.0  0.0 1.0)
+         ("speak_enable"  bool_t  0  "tweet speak enable" t)
+         ("enable"  bool_t  0  "tweet enable" t))
+        ;; use lamda-closure to avoid memory error
+        '(lambda-closure nil 0 0 (cfg level)
+            (let ((prev-volume *volume*)
+                  (prev-speak-enable *speak-enable*)
+                  (prev-enable *enable*))
+              (setq *volume* (cdr (assoc "volume" cfg :test #'equal)))
+              (setq *speak-enable* (cdr (assoc "speak_enable" cfg :test #'equal)))
+              (setq *enable* (cdr (assoc "enable" cfg :test #'equal)))
+              (if (null (equal *volume* prev-volume))
+                (ros::ros-warn "Volume changed to: ~A" *volume*))
+              (if (null (equal *enable* prev-enable))
+                (ros::ros-warn "Enable changed to: ~A" *enable*))
+              (if (null (equal *speak-enable* prev-speak-enable))
+                (ros::ros-warn "Speak enable changed to: ~A" *speak-enable*)))
+            cfg)))
+
 (defun twit-cb (msg)
-  (let ((twit-str (send msg :data)))
-    (tweet-string twit-str
-                  :warning-time nil
-                  :with-image "/tablet/marked/image_rect_color")))
+  (if *enable*
+    (let ((twit-str (send msg :data)))
+      (tweet-string twit-str
+                    :warning-time nil
+                    :with-image "/tablet/marked/image_rect_color"
+                    :speak *speak-enable*
+                    :volume *volume*))))
 
 (ros::advertise "/tweet" std_msgs::String 1)
 (ros::subscribe "/pr2twit_from_tablet" roseus::StringStamped #'twit-cb)
diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_uptime.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_uptime.l
index d49af0e6e4..4313e8faf7 100755
--- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_uptime.l
+++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_uptime.l
@@ -2,6 +2,7 @@
 
 (ros::roseus "twitter_client_uptime")
 
+(load "package://roseus/euslisp/dynamic-reconfigure-server.l")
 (load "package://jsk_robot_startup/lifelog/tweet_client.l")
 
 (setq *src-lines* nil)
@@ -17,6 +18,13 @@
   (unix::sleep 3)
   (ros::ros-info "Wait for /active_user/elapsed_time parameter ..."))
 
+(cond
+ ((ros::has-param "/active_user/tweet_random_range")
+  (setq *tweet-random-range* (ros::get-param "/active_user/tweet_random_range")))
+ (t
+  (setq *tweet-random-range* 600.0)
+  ))
+
 (cond
  ((ros::has-param "/active_user/tweet_second")
   (setq *tweet-second* (ros::get-param "/active_user/tweet_second")))
@@ -33,56 +41,85 @@
   (let ((st (ros::get-param "/active_user/start_time")))
     (setq *waking-target-second*
           (+ (- (send (ros::time-now) :to-sec) st)
-             *waking-tweet-second*))))
+             (+ *waking-tweet-second* (random *tweet-random-range*))))))
  (t
-  (setq *waking-target-second* *waking-tweet-second*)))
+  (setq *waking-target-second* (+ *waking-tweet-second* (random *tweet-random-range*)))))
+
+(setq *volume* (ros::get-param "~volume" 1.0))
+(setq *speak-enable* (ros::get-param "~speak_enable" t))
+(setq *enable* (ros::get-param "~enable" t))
+(setq *reconfigure-server*
+      (def-dynamic-reconfigure-server
+        ;;; ((name type level description (default) (min) (max) (edit_method)) ... )
+        (("volume"  double_t  0  "tweet speak volume" 1.0  0.0 1.0)
+         ("speak_enable"  bool_t  0  "tweet speak enable" t)
+         ("enable"  bool_t  0  "tweet enable" t))
+        ;; use lamda-closure to avoid memory error
+        '(lambda-closure nil 0 0 (cfg level)
+            (let ((prev-volume *volume*)
+                  (prev-speak-enable *speak-enable*)
+                  (prev-enable *enable*))
+              (setq *volume* (cdr (assoc "volume" cfg :test #'equal)))
+              (setq *speak-enable* (cdr (assoc "speak_enable" cfg :test #'equal)))
+              (setq *enable* (cdr (assoc "enable" cfg :test #'equal)))
+              (if (null (equal *volume* prev-volume))
+                (ros::ros-warn "Volume changed to: ~A" *volume*))
+              (if (null (equal *enable* prev-enable))
+                (ros::ros-warn "Enable changed to: ~A" *enable*))
+              (if (null (equal *speak-enable* prev-speak-enable))
+                (ros::ros-warn "Speak enable changed to: ~A" *speak-enable*)))
+            cfg)))
 
 (ros::advertise "/tweet" std_msgs::String 1)
 (ros::rate 0.1)
 (do-until-key
-  (setq *user-name* (ros::get-param "/active_user/launch_user_name")
-        *elapsed-time* (ros::get-param "/active_user/elapsed_time"))
-  ;; tweet depend on up time
-  (let ((st (ros::get-param "/active_user/start_time")))
-    (when st
-      (let ((waking-time (- (send (ros::time-now) :to-sec) st)))
-        (ros::ros-debug "~A waking ~A sec (~A)" *robot-name* waking-time *waking-target-second*)
-        (when (> waking-time *waking-target-second*)
-          (incf *waking-target-second* *waking-tweet-second*)
-          ;; tweet source of robot-interface
-          (unless *src-lines*
-            (let* ((dirname (ros::rospack-find "pr2eus"))
-                   (fname   (format nil "~A/robot-interface.l" dirname))
-                   str)
-              (with-open-file (f fname)
-                (while (setq str (read-line f nil nil))
-                (push str *src-lines*)))
-              (setq *src-lines* (nreverse *src-lines*))
-              ))
+  (if *enable*
+    (progn
+      (setq *user-name* (ros::get-param "/active_user/launch_user_name")
+            *elapsed-time* (ros::get-param "/active_user/elapsed_time"))
+      ;; tweet depend on up time
+      (let ((st (ros::get-param "/active_user/start_time")))
+        (when st
+          (let ((waking-time (- (send (ros::time-now) :to-sec) st)))
+            (ros::ros-debug "~A waking ~A sec (~A)" *robot-name* waking-time *waking-target-second*)
+            (when (> waking-time *waking-target-second*)
+              (incf *waking-target-second* (+ *waking-tweet-second* (random *tweet-random-range*)))
+              ;; tweet source of robot-interface
+              (unless *src-lines*
+                (let* ((dirname (ros::rospack-find "pr2eus"))
+                       (fname   (format nil "~A/robot-interface.l" dirname))
+                       str)
+                  (with-open-file (f fname)
+                    (while (setq str (read-line f nil nil))
+                    (push str *src-lines*)))
+                  (setq *src-lines* (nreverse *src-lines*))
+                  ))
 
-          (let* ((len (length *src-lines*))
-                 (start-n (floor (random (float len) *random-state*)))
-                 (spos 0) (str-len 0) lines)
-            (push (format nil "I am running ~A min." (round (/ waking-time 60.0)))
-                  lines)
-            (incf str-len (length (car lines)))
-            (while (< (+ start-n spos) len)
-              (let ((str (elt *src-lines* (+ start-n spos))))
-                (incf str-len (length str))
-                (if (> str-len 140) (return))
-                (push str lines))
-              (incf spos))
-            (let* ((ln (apply #'+ (length lines)
-                              (mapcar #'(lambda (x) (length x)) lines)))
-                   (dt (make-string (1- ln)))
-                   (pos 0))
-              (dolist (s (nreverse lines))
-                (replace dt s :start1 pos)
-                (incf pos (length s))
-                (if (< pos (- ln 2)) (setf (elt dt pos) 10))
-                (incf pos))
-              (tweet-string dt :warning-time 1 :with-image t)
-              ))
-          ))))
+              (let* ((len (length *src-lines*))
+                     (start-n (floor (random (float len) *random-state*)))
+                     (spos 0) (str-len 0) lines)
+                (push (format nil "I am running ~A min." (round (/ waking-time 60.0)))
+                      lines)
+                (incf str-len (length (car lines)))
+                (while (< (+ start-n spos) len)
+                  (let ((str (elt *src-lines* (+ start-n spos))))
+                    (incf str-len (length str))
+                    (if (> str-len 140) (return))
+                    (push str lines))
+                  (incf spos))
+                (let* ((ln (apply #'+ (length lines)
+                                  (mapcar #'(lambda (x) (length x)) lines)))
+                       (dt (make-string (1- ln)))
+                       (pos 0))
+                  (dolist (s (nreverse lines))
+                    (replace dt s :start1 pos)
+                    (incf pos (length s))
+                    (if (< pos (- ln 2)) (setf (elt dt pos) 10))
+                    (incf pos))
+                  (tweet-string dt :warning-time 1 :with-image t
+                                :speak *speak-enable*
+                                :volume *volume*)
+                  ))))))))
+  (ros::spin-once)
   (ros::sleep)
   )
diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_warning.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_warning.l
index 7ec7e3dceb..0f0c1d1b03 100755
--- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_warning.l
+++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_warning.l
@@ -2,41 +2,67 @@
 
 (ros::roseus "twitter_client_warning")
 
+(load "package://roseus/euslisp/dynamic-reconfigure-server.l")
 (load "package://jsk_robot_startup/lifelog/tweet_client.l")
 (ros::load-ros-manifest "diagnostic_msgs")
 
+(setq *volume* (ros::get-param "~volume" 1.0))
+(setq *speak-enable* (ros::get-param "~speak_enable" t))
+(setq *enable* (ros::get-param "~enable" t))
+(setq *reconfigure-server*
+      (def-dynamic-reconfigure-server
+        ;;; ((name type level description (default) (min) (max) (edit_method)) ... )
+        (("volume"  double_t  0  "tweet speak volume" 1.0  0.0 1.0)
+         ("speak_enable"  bool_t  0  "tweet speak enable" t)
+         ("enable"  bool_t  0  "tweet enable" t))
+        ;; use lamda-closure to avoid memory error
+        '(lambda-closure nil 0 0 (cfg level)
+            (let ((prev-volume *volume*)
+                  (prev-speak-enable *speak-enable*)
+                  (prev-enable *enable*))
+              (setq *volume* (cdr (assoc "volume" cfg :test #'equal)))
+              (setq *speak-enable* (cdr (assoc "speak_enable" cfg :test #'equal)))
+              (setq *enable* (cdr (assoc "enable" cfg :test #'equal)))
+              (if (null (equal *volume* prev-volume))
+                (ros::ros-warn "Volume changed to: ~A" *volume*))
+              (if (null (equal *enable* prev-enable))
+                (ros::ros-warn "Enable changed to: ~A" *enable*))
+              (if (null (equal *speak-enable* prev-speak-enable))
+                (ros::ros-warn "Speak enable changed to: ~A" *speak-enable*)))
+            cfg)))
+
 (defun diagnostics-cb (msg)
-  (let ((diagnostics (make-hash-table :test #'equal))
-	(tm (ros::time-now))
-	status id)
-    (ros::ros-debug (format nil "~0,3f diagnostics_msgs~%" (send tm :to-sec)))
-    (dolist (status (send msg :status))
-      ;; diagnostic_msgs::DiagnosticStatus::*WARN*
-      (when (>= (send status :level) diagnostic_msgs::DiagnosticStatus::*WARN*) ;; diagnostic_msgs::DiagnosticStatus::*ERROR*)
-	(cond ((substringp "/Motors" (send status :name))
-	       t) ;; skip motors
-	      ((substringp "/Other/Accelerometer" (send status :name)) t)
-	      ((substringp "/Other/Pressure" (send status :name)) t)
-	      ((and (string= "/Computers/Network/Wifi Status (ddwrt)" (send status :name))
-		    (string= "Updates Stale" (send status :message))) t)
-	      ((and (string= "/Computers/Network" (send status :name))
-		    (string= "Error" (send status :message))) t)
-              ((substringp "/Peripherals/PS3 Controller" (send status :name)) t) ;; fetch joystick warning
-	      ((position #\/ (send status :name) :count 2) ;; check depth of name
-	       (setq key (subseq (send status :name) 0 (position #\/ (send status :name) :count 2)))
-	       (when (> (length (send status :name)) (length (gethash key diagnostics)))
-		 (setf (gethash key diagnostics) (cons (send status :name) (send status :message)))
-		 ) ;; when
-	       ))
-	)) ;; when / dolist
-    (maphash #'(lambda (k v) (ros::ros-debug (format nil "Warnings ~A ~A~%" (length status) v)) (push v status)) diagnostics)
-    (when status
-      (setq id (random (length status)))
-      (when (= (mod (round (send tm :sec)) 1000) 0)
-        (tweet-string (format nil "Warning!! ~A is ~A at ~0,3f" (car (elt status id)) (cdr (elt status id)) (send tm :to-sec))
-                      :warning-time 1 :with-image t)
-	)) ;; when
-    )) ;; let
+  (if *enable*
+    (let ((diagnostics (make-hash-table :test #'equal))
+          (tm (ros::time-now))
+          status id)
+      (ros::ros-debug (format nil "~0,3f diagnostics_msgs~%" (send tm :to-sec)))
+      (dolist (status (send msg :status))
+        ;; diagnostic_msgs::DiagnosticStatus::*WARN*
+        (when (>= (send status :level) diagnostic_msgs::DiagnosticStatus::*WARN*) ;; diagnostic_msgs::DiagnosticStatus::*ERROR*)
+          (cond ((substringp "/Motors" (send status :name))
+                 t) ;; skip motors
+                ((substringp "/Other/Accelerometer" (send status :name)) t)
+                ((substringp "/Other/Pressure" (send status :name)) t)
+                ((and (string= "/Computers/Network/Wifi Status (ddwrt)" (send status :name))
+                      (string= "Updates Stale" (send status :message))) t)
+                ((and (string= "/Computers/Network" (send status :name))
+                      (string= "Error" (send status :message))) t)
+                ((substringp "/Peripherals/PS3 Controller" (send status :name)) t) ;; fetch joystick warning
+                ((position #\/ (send status :name) :count 2) ;; check depth of name
+                 (setq key (subseq (send status :name) 0 (position #\/ (send status :name) :count 2)))
+                 (when (> (length (send status :name)) (length (gethash key diagnostics)))
+                   (setf (gethash key diagnostics) (cons (send status :name) (send status :message)))
+                   ) ;; when
+                 ))
+          )) ;; when / dolist
+      (maphash #'(lambda (k v) (ros::ros-debug (format nil "Warnings ~A ~A~%" (length status) v)) (push v status)) diagnostics)
+      (when status
+        (setq id (random (length status)))
+        (when (= (mod (round (send tm :sec)) 1000) 0)
+          (tweet-string (format nil "Warning!! ~A is ~A at ~0,3f" (car (elt status id)) (cdr (elt status id)) (send tm :to-sec))
+                        :warning-time 1 :with-image t :volume *volume* :speak *speak-enable*)))
+      )))
 
 (ros::advertise "/tweet" std_msgs::String 1)
 (ros::subscribe "/diagnostics_agg" diagnostic_msgs::DiagnosticArray #'diagnostics-cb)
diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_worktime.l b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_worktime.l
index dac8769842..52baa59aaf 100755
--- a/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_worktime.l
+++ b/jsk_robot_common/jsk_robot_startup/lifelog/tweet_client_worktime.l
@@ -2,6 +2,7 @@
 
 (ros::roseus "twitter_client_worktime")
 
+(load "package://roseus/euslisp/dynamic-reconfigure-server.l")
 (load "package://jsk_robot_startup/lifelog/tweet_client.l")
 
 (defvar *robot-name* "robot")
@@ -34,49 +35,78 @@
  (t
   (setq *waking-target-second* *waking-tweet-second*)))
 
+(setq *volume* (ros::get-param "~volume" 1.0))
+(setq *speak-enable* (ros::get-param "~speak_enable" t))
+(setq *enable* (ros::get-param "~enable" t))
+(setq *reconfigure-server*
+      (def-dynamic-reconfigure-server
+        ;;; ((name type level description (default) (min) (max) (edit_method)) ... )
+        (("volume"  double_t  0  "tweet speak volume" 1.0  0.0 1.0)
+         ("speak_enable"  bool_t  0  "tweet speak enable" t)
+         ("enable"  bool_t  0  "tweet enable" t))
+        ;; use lamda-closure to avoid memory error
+        '(lambda-closure nil 0 0 (cfg level)
+            (let ((prev-volume *volume*)
+                  (prev-speak-enable *speak-enable*)
+                  (prev-enable *enable*))
+              (setq *volume* (cdr (assoc "volume" cfg :test #'equal)))
+              (setq *speak-enable* (cdr (assoc "speak_enable" cfg :test #'equal)))
+              (setq *enable* (cdr (assoc "enable" cfg :test #'equal)))
+              (if (null (equal *volume* prev-volume))
+                (ros::ros-warn "Volume changed to: ~A" *volume*))
+              (if (null (equal *enable* prev-enable))
+                (ros::ros-warn "Enable changed to: ~A" *enable*))
+              (if (null (equal *speak-enable* prev-speak-enable))
+                (ros::ros-warn "Speak enable changed to: ~A" *speak-enable*)))
+            cfg)))
+
 (ros::advertise "/tweet" std_msgs::String 1)
 (ros::rate 0.1)
 (do-until-key
-  (setq *user-name* (ros::get-param "/active_user/launch_user_name")
-        *elapsed-time* (ros::get-param "/active_user/elapsed_time"))
-  (ros::ros-debug "user -> ~A, time -> ~A (~A) "
-                 *user-name* *elapsed-time* *target-second*)
-  ;; tweet depend on working time
-  (when (> *elapsed-time* *target-second*)
-    (incf *target-second* *tweet-second* )
-    (ros::ros-info "tweet ~A ~A" *user-name* *elapsed-time*)
-    (let ((mainstr (format nil "~A has used ~A for ~d minutes"
-                           ;; why delete *user-name* after space ?
-                           ;;(subseq *user-name* 0
-                           ;;(or (position #\space *user-name*)
-                           ;;(length *user-name*)))
-                           *user-name*
-			   *robot-name*
-                           (round (/ *elapsed-time* 60))))
-          presubstr postsubstr)
-      (cond
-       ((< *elapsed-time* 600) ;; 5 min
-        (setq presubstr "Congratulations! "
-              postsubstr ", Let's get started!"))
-       ((< *elapsed-time* 910) ;; 15 min
-        (setq presubstr "Gooood! "
-              postsubstr ", Go ahead!"))
-       ((< *elapsed-time* 1820) ;; 30 min
-        (setq presubstr "So Nice! "
-              postsubstr ", Go ahead!"))
-       ((< *elapsed-time* 2730) ;; 45 min
-        (setq presubstr "Fantastic! "
-              postsubstr ", Keep going!"))
-       ((< *elapsed-time* 3640) ;; 60 min
-        (setq presubstr "Amazing! "
-              postsubstr ", I'm not tired!"))
-       (t
-        (setq presubstr "Awesome! "
-              postsubstr ", Got some rest?")))
-
-      (tweet-string (format nil "~A~A~A" presubstr mainstr postsubstr)
-                    :warning-time 1 :with-image t)
+  (if *enable*
+    (progn
+      (setq *user-name* (ros::get-param "/active_user/launch_user_name")
+            *elapsed-time* (ros::get-param "/active_user/elapsed_time"))
+      (ros::ros-debug "user -> ~A, time -> ~A (~A) "
+                     *user-name* *elapsed-time* *target-second*)
+      ;; tweet depend on working time
+      (when (> *elapsed-time* *target-second*)
+        (incf *target-second* *tweet-second* )
+        (ros::ros-info "tweet ~A ~A" *user-name* *elapsed-time*)
+        (let ((mainstr (format nil "~A has used ~A for ~d minutes"
+                               ;; why delete *user-name* after space ?
+                               ;;(subseq *user-name* 0
+                               ;;(or (position #\space *user-name*)
+                               ;;(length *user-name*)))
+                               *user-name*
+                               *robot-name*
+                               (round (/ *elapsed-time* 60))))
+              presubstr postsubstr)
+          (cond
+           ((< *elapsed-time* 600) ;; 5 min
+            (setq presubstr "Congratulations! "
+                  postsubstr ", Let's get started!"))
+           ((< *elapsed-time* 910) ;; 15 min
+            (setq presubstr "Gooood! "
+                  postsubstr ", Go ahead!"))
+           ((< *elapsed-time* 1820) ;; 30 min
+            (setq presubstr "So Nice! "
+                  postsubstr ", Go ahead!"))
+           ((< *elapsed-time* 2730) ;; 45 min
+            (setq presubstr "Fantastic! "
+                  postsubstr ", Keep going!"))
+           ((< *elapsed-time* 3640) ;; 60 min
+            (setq presubstr "Amazing! "
+                  postsubstr ", I'm not tired!"))
+           (t
+            (setq presubstr "Awesome! "
+                  postsubstr ", Got some rest?")))
 
-      ))
+          (tweet-string (format nil "~A~A~A" presubstr mainstr postsubstr)
+                        :warning-time 1 :with-image t
+                        :speak *speak-enable*
+                        :volume *volume*)
+          ))))
+  (ros::spin-once)
   (ros::sleep)
   )
diff --git a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py
index dee5af4b08..f74cbe095c 100755
--- a/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py
+++ b/jsk_robot_common/jsk_robot_startup/scripts/smach_to_mail.py
@@ -45,9 +45,13 @@ def __init__(self):
         self.pub_twitter = rospy.Publisher("tweet", String, queue_size=10)
         rospy.Subscriber(
             "~smach/container_status", SmachContainerStatus, self._status_cb)
+        rospy.Timer(rospy.Duration(
+            rospy.get_param("~stop_duration", 3600)), self._stop_timer_cb)
         self.bridge = CvBridge()
         self.smach_state_list = {}  # for status list
         self.smach_state_subject = {}  # for status subject
+        self.smach_start_time = {}
+        self.timeout = rospy.get_param("~timeout", 1200)
         if rospy.has_param("~sender_address"):
             self.sender_address = rospy.get_param("~sender_address")
         else:
@@ -69,6 +73,27 @@ def __init__(self):
             self.gchat_image_dir = rospy.get_param("~google_chat_tmp_image_dir", "/tmp")
             self._gchat_thread = None
 
+    def _stop_timer_cb(self, event):
+        '''
+        If smach does not go to finish/end state,
+        this is forced to send notification.
+        '''
+        now = rospy.Time.now()
+        rospy.logdebug("SmachToMail stop timer called")
+        if (self.smach_state_list and
+                self.smach_state_subject and
+                self.timeout is not None and
+                self.smach_start_time is not None):
+            for key in self.smach_state_list.keys():
+                if (now - self.smach_start_time[key]).to_sec() > self.timeout:
+                    self._send_mail(
+                        self.smach_state_subject[key], self.smach_state_list[key])
+                    self._send_twitter(
+                        self.smach_state_subject[key], self.smach_state_list[key])
+                    self.smach_state_subject[key] = None
+                    rospy.logwarn(
+                        "SmachToMail timer publishes stop signal. Send Notification.")
+
     def _status_cb(self, msg):
         '''
         Recording starts when smach_state becomes start.
@@ -109,6 +134,7 @@ def _status_cb(self, msg):
 
         # If we received START/INIT status, restart storing smach_state_list
         if status_str in ["START", "INIT"]:
+            self.smach_start_time[caller_id] = rospy.Time.now()
             self.smach_state_list[caller_id] = []
             # DESCRIPTION of START is MAIL SUBJECT
             if 'DESCRIPTION' in local_data_str:
diff --git a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh
new file mode 100755
index 0000000000..053f0fcfd3
--- /dev/null
+++ b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh
@@ -0,0 +1,142 @@
+#!/usr/bin/env bash
+
+function usage()
+{
+    echo "Usage: $0 [-w workspace_directory] [-r rosinstall_path] [-t robot_type] [-s skip keys] [-h] [-u] [-l]
+
+optional arguments:
+    -h                  show this help
+    -w WORKSPACE_PATH   specify target workspace
+    -r ROSINTALL_PATH   rosinstall path
+    -t ROBOT            robot type
+    -s SKIP_KEYS        rosdep install skip keys
+    -u                  do not run apt-get upgrade and rosdep install
+    -l                  do not send a mail
+"
+}
+
+function get_full_path()
+{
+    echo "$(cd $(dirname $1) && pwd)/$(basename $1)"
+}
+
+ROSDEP_INSTALL=true
+SEND_MAIL=true
+WORKSPACE=$(get_full_path $HOME/ros/$ROS_DISTRO)
+
+while getopts w:r:t:s:ulh OPT
+do
+    case $OPT in
+        w)
+            WORKSPACE=$(get_full_path $OPTARG)
+            ;;
+        r)
+            ROSINSTALL=$(get_full_path $OPTARG)
+            ;;
+        t)
+            ROBOT_TYPE=$OPTARG
+            ;;
+        s)
+            SKIP_KEYS=$OPTARG
+            ;;
+        u)
+            ROSDEP_INSTALL=false
+            ;;
+        l)
+            SEND_MAIL=false
+            ;;
+        h)
+            usage
+            exit 1
+            ;;
+        *)
+            usage
+            exit 1
+            ;;
+    esac
+done
+
+if [ "$WORKSPACE" = "" ]; then
+    echo "Please set valid workspace -w $WORKSPACE"
+    exit 1
+fi
+if [ "$ROSINSTALL" = "" ]; then
+    echo "Please set valid rosinstall -r $ROSINSTALL"
+    exit 1
+fi
+if [ "$ROBOT_TYPE" = "" ]; then
+    echo "Please set valid robot type -t $ROBOT_TYPE"
+    exit 1
+fi
+
+
+. $WORKSPACE/devel/setup.bash
+# Filename should end with .txt to preview the contents in a web browser
+LOGFILE=$WORKSPACE/update_workspace.txt
+
+TMP_MAIL_BODY_FILE=/tmp/update_workspace_mailbody.txt
+
+{
+set -x
+# Update workspace
+
+wstool foreach -t $WORKSPACE/src --git 'git stash'
+wstool foreach -t $WORKSPACE/src --git 'git fetch origin --prune'
+wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot --delete-changed-uris
+ln -sf $ROSINSTALL $WORKSPACE/src/.rosinstall
+wstool update -t $WORKSPACE/src --delete-changed-uris
+# Forcefully checkout specified branch
+wstool foreach -t $WORKSPACE/src --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); if [ $branchname != "HEAD" ]; then git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout -b $branchname --track origin/$branchname; fi'
+wstool update -t $WORKSPACE/src
+WSTOOL_UPDATE_RESULT=$?
+# Rosdep Install
+if [ "${ROSDEP_INSTALL}" == "true" ]; then
+  sudo apt-get update -y;
+  rosdep update;
+  rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r --skip-keys "$SKIP_KEYS";
+  ROSDEP_INSTALL_RESULT=$?;
+else
+  ROSDEP_INSTALL_RESULT=0;
+fi
+# Build workspace
+cd $WORKSPACE
+catkin clean aques_talk collada_urdf_jsk_patch libcmt -y
+catkin init
+catkin config -DCMAKE_BUILD_TYPE=Release
+catkin build --continue-on-failure
+CATKIN_BUILD_RESULT=$?
+# Send mail
+echo "" > $TMP_MAIL_BODY_FILE
+if [ $WSTOOL_UPDATE_RESULT -ne 0 ]; then
+    echo "Please wstool update workspace manually.\n" >> $TMP_MAIL_BODY_FILE
+fi
+if [ $ROSDEP_INSTALL_RESULT -ne 0 ]; then
+    echo "Please install dependencies manually.\n" >> $TMP_MAIL_BODY_FILE
+fi
+if [ $CATKIN_BUILD_RESULT -ne 0 ]; then
+    echo "Please catkin build workspace manually.\n" >> $TMP_MAIL_BODY_FILE
+fi
+set +x
+} 2>&1 | tee $LOGFILE
+
+# MAIL_BODY variable cannot be set directly in a subshell. So it is set from temporary mail body text file.
+# The mail body text is put as $TMP_MAIL_BODY_FILE.
+# See https://github.com/jsk-ros-pkg/jsk_robot/issues/1569
+MAIL_BODY=$(cat $TMP_MAIL_BODY_FILE)
+echo "MAIL_BODY: $MAIL_BODY"
+
+if [ -n "$MAIL_BODY" ] && [ "${SEND_MAIL}" == "true" ]; then
+    echo "Sent a mail"
+    rostopic pub -1 /email jsk_robot_startup/Email "header:
+  seq: 0
+  stamp: {secs: 0, nsecs: 0}
+  frame_id: ''
+subject: 'Daily workspace update fails'
+body:
+- {type: 'text', message: '${MAIL_BODY}', file_path: '', img_data: '', img_size: 0}
+sender_address: '$(hostname)@jsk.imi.i.u-tokyo.ac.jp'
+receiver_address: '$ROBOT_TYPE@jsk.imi.i.u-tokyo.ac.jp'
+smtp_server: ''
+smtp_port: ''
+attached_files: ['$LOGFILE']"
+fi