[jsk_robot_startup/lifelog] Tweet randomly from uptime

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: '[email protected]'
-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

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

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:

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")

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

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"/>

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)
 

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>
 

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):

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()

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()

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

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