Merge branch 'master' into forum_button

Author: knorth55

.github/workflows/config.yml

@@ -0,0 +1,94 @@
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+
+env:
+  DISPLAY: ':0.0'
+
+jobs:
+  ros:
+    runs-on: ubuntu-latest
+    continue-on-error: false
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - ROS_DISTRO: indigo
+            CONTAINER: jskrobotics/ros-ubuntu:14.04-pcl
+            NOT_TEST_INSTALL: true
+          - ROS_DISTRO: indigo
+            CONTAINER: jskrobotics/ros-ubuntu:14.04-pcl
+            BEFORE_SCRIPT: "ls -al; ls -al jsk_demos/; TEST_ROBOT=pr2 ./jsk_demos/.travis.before_script.sh"
+            TEST_PKGS : "detect_cans_in_fridge_201202 elevator_move_base_pr2 interactive_behavior_201409 jsk_2011_07_pr2_semantic jsk_2013_04_pr2_610 jsk_demo_common jsk_maps"
+            NOT_TEST_INSTALL: true
+          - ROS_DISTRO: indigo
+            CONTAINER: jskrobotics/ros-ubuntu:14.04-pcl
+            BEFORE_SCRIPT: "TEST_ROBOT=fetch ./jsk_demos/.travis.before_script.sh"
+            TEST_PKGS: "jsk_2017_10_semi jsk_maps"
+            NOT_TEST_INSTALL: true
+          - ROS_DISTRO: kinetic
+            CONTAINER: jskrobotics/ros-ubuntu:16.04-pcl
+          - ROS_DISTRO: melodic
+            CONTAINER: jskrobotics/ros-ubuntu:18.04-pcl
+          - ROS_DISTRO: melodic
+            CONTAINER: jskrobotics/ros-ubuntu:18.04-pcl
+            BEFORE_SCRIPT: "TEST_ROBOT=fetch ./jsk_demos/.travis.before_script.sh"
+          - ROS_DISTRO: noetic
+            CONTAINER: jskrobotics/ros-ubuntu:20.04-pcl
+            continue-on-error: true
+
+    container: ${{ matrix.CONTAINER }}
+    steps:
+      - name: Install latest git ( use sudo for ros-ubuntu )
+        run: |
+          [ -e /etc/apt/sources.list.d/ubuntu-esm-infra-$(lsb_release -cs).list ] && sudo rm /etc/apt/sources.list.d/ubuntu-esm-infra-$(lsb_release -cs).list ## fix Err https://esm.ubuntu.com trusty-infra-security/main amd64 Packages, gnutls_handshake() failed: Handshake failed
+          (apt-get update && apt-get install -y sudo) || echo "OK"
+          sudo apt-get update
+          sudo apt-get install -y software-properties-common
+          sudo apt-get update
+          sudo -E add-apt-repository -y ppa:git-core/ppa
+          sudo apt-get update
+          sudo apt-get install -y git
+
+      - name: work around permission issue  # https://github.com/actions/checkout/issues/760#issuecomment-1097501613
+        run: |
+          set -x
+          export USER=$(whoami)
+          sudo chown -R $USER $GITHUB_WORKSPACE
+          git config --global --add safe.directory $GITHUB_WORKSPACE || echo "OK" # Show 'could not lock config file /github/home/.gitconfig: Permission denied', but it is ok
+          sudo mkdir -p /__w/
+          sudo chmod 777 -R /__w/
+          sudo chown -R $USER $HOME
+          # sudo mkdir -p /home/runner/work/_temp/_github_workflow/
+          # sudo chown -R $USER $HOME /home/runner/work/_temp/_github_workflow/
+          # ls -al /home/runner/work/_temp/_github_workflow/
+
+      - name: Chcekout
+        uses: actions/checkout@v2
+
+      - name: Start X server
+        run: |
+          echo 'debconf debconf/frontend select Noninteractive' | sudo debconf-set-selections || echo "failing on ros-ubuntu is OK" # set non interactive tzdata https://stackoverflow.com/questions/8671308/non-interactive-method-for-dpkg-reconfigure-tzdata
+          sudo apt-get -y -qq install mesa-utils x11-xserver-utils xserver-xorg-video-dummy wget
+          export DISPLAY=:0
+          wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_travis/master/dummy.xorg.conf -O /tmp/dummy.xorg.conf
+          sudo Xorg -noreset +extension GLX +extension RANDR +extension RENDER -logfile /tmp/xorg.log -config /tmp/dummy.xorg.conf $DISPLAY &
+          sleep 3 # wait x server up
+          export QT_X11_NO_MITSHM=1 # http://wiki.ros.org/docker/Tutorials/GUI
+          xhost +local:root
+
+      - name: Run jsk_travis
+        uses: jsk-ros-pkg/jsk_travis@master
+        with:
+          ROS_PARALLEL_JOBS : "-j8"
+          CATKIN_PARALLEL_JOBS : "-p8"
+          ROS_PARALLEL_TEST_JOBS : "-j8"
+          CATKIN_PARALLEL_TEST_JOBS : "-p8"
+          BEFORE_SCRIPT : "mkdir -p ros-${{ matrix.ROS_DISTRO }}-julius/DEBIAN; /bin/echo -e 'Package: ros-${{ matrix.ROS_DISTRO }}-julius\nVersion: 100.0.0\nArchitecture: all\nMaintainer: [email protected]\nDescription: To speedup install process\n' > ros-${{ matrix.ROS_DISTRO }}-julius/DEBIAN/control; dpkg-deb --build ros-${{ matrix.ROS_DISTRO }}-julius; sudo dpkg -i ./ros-${{ matrix.ROS_DISTRO }}-julius.deb; ${{ matrix.BEFORE_SCRIPT }}"
+          ROS_DISTRO : ${{ matrix.ROS_DISTRO }}
+          USE_DEB :  ${{ matrix.USE_DEB }}
+          NOT_TEST_INSTALL : ${{ matrix.NOT_TEST_INSTALL }}
+          TEST_PKGS : ${{ matrix.TEST_PKGS }}
+          EXTRA_DEB : ${{ matrix.EXTRA_DEB }}

.travis

@@ -4,7 +4,7 @@ install_robot_rosinstall() {
   if [ "$TEST_ROBOT" = "pr2" ]; then
     ROSINSTALL_URL="https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2.rosinstall"
   elif [ "$TEST_ROBOT" = "fetch" ]; then
-    ROSINSTALL_URL="https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master/jsk_fetch_robot/jsk_fetch.rosinstall"
+    ROSINSTALL_URL="https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master/jsk_fetch_robot/jsk_fetch.rosinstall.$ROS_DISTRO"
   fi
 
   if [ "$ROSINSTALL_URL" != "" ]; then

.travis.before_script.sh

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(detect_cans_in_fridge_201202)
 
-find_package(catkin REQUIRED roseus)
+find_package(catkin REQUIRED)
 
 catkin_package(
     DEPENDS
@@ -18,6 +18,3 @@ install(DIRECTORY data scripts config euslisp
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS)
 
-install(FILES detect_cans_in_fridge.rviz object_models1.yaml object_models_new.yaml self_filter.yaml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-  )

detect_cans_in_fridge_201202/CMakeLists.txt

@@ -30,14 +30,11 @@ If you want to execute on real robot, see On real robot.
 
 #### Installation
 
-**NOTE** `indigo` distribution is assumed. Please replace it if you want to use on other distribution.
-
 **NOTE** Assumed that catkin workspace has been installed on your environment. If you don't yet have catkin workspace, please follow [the instruction](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).
 
 **NOTE** In simulation mode, the fridge front spot is referenced from `models/room73b2-scene.l` in [euslisp](http://github.com/euslisp/EusLisp) package. So, Please make sure to build [euslisp](http://github.com/euslisp/EusLisp) package.
 
 ```bash
-source /opt/ros/indigo/setup.bash
 cd /path/to/your_catkin_ws
 mkdir src
 wstool init src
@@ -62,7 +59,6 @@ roscore
   ```bash
 # Terminal 2
 roseus
-(setq *logging* nil)
 (load "package://detect_cans_in_fridge_201202/euslisp/main.l")
 (demo)
 ```
@@ -100,4 +96,4 @@ roslaunch detect_cans_in_fridge_201202 startup.launch
 
 ```
 
-Then you can start fridge demo from tablet.
+Then you can start fridge demo from tablet.

detect_cans_in_fridge_201202/README.md

@@ -4,3 +4,119 @@ icon: detect_cans_in_fridge_201202/pick_object.png
 interface: detect_cans_in_fridge_201202/pick_object.interface
 launch: detect_cans_in_fridge_201202/pick_object.xml
 platform: pr2
+plugins:
+  - name: kinect_head_video_recorder_plugin
+    type: app_recorder/audio_video_recorder_plugin
+    launch_args:
+      video_path: /tmp
+      video_title: pick_object_kinect_head.avi
+      audio_topic_name: /audio
+      audio_channels: 1
+      audio_sample_rate: 16000
+      audio_format: wave
+      audio_sample_format: S16LE
+      # use raw topic to suppress data transmission between c1 and c2
+      # video_topic_name: /kinect_head/rgb/image_rect_color
+      video_topic_name: /kinect_head/rgb/image_rect_color
+      use_compressed: true
+      video_decompressed_topic_name: /kinect_head/pick_object/rgb/image_rect_color
+      video_height: 480
+      video_width: 640
+      video_framerate: 30
+      video_encoding: BGR
+  - name: human_pose_estimator_video_recorder_plugin
+    type: app_recorder/audio_video_recorder_plugin
+    launch_args:
+      video_path: /tmp
+      video_title: pick_object_kinect_head_human_pose_estimator.avi
+      audio_topic_name: /audio
+      audio_channels: 1
+      audio_sample_rate: 16000
+      audio_format: wave
+      audio_sample_format: S16LE
+      video_topic_name: /edgetpu_human_pose_estimator/output/image
+      use_compressed: true
+      video_decompressed_topic_name: /edgetpu_human_pose_estimator/pick_object/output/image
+      video_height: 480
+      video_width: 640
+      video_framerate: 10
+      video_encoding: BGR
+  - name: rosbag_recorder_plugin
+    type: app_recorder/rosbag_recorder_plugin
+    launch_args:
+      rosbag_path: /tmp
+      rosbag_title: pick_object_rosbag.bag
+      compress: true
+      rosbag_topic_names:
+        - /rosout
+        - /tf
+        - /tf_static
+        - /joint_states
+        - /map
+        - /base_odometry/odom
+        - /robot_pose_ekf/odom_combined
+        - /base_controller/command
+        - /navigation/cmd_vel
+        - /move_base_node/NavFnROS/plan
+        - /move_base_node/DWAPlannerROS/global_plan
+        - /move_base_node/DWAPlannerROS/local_plan
+        - /move_base_node/local_costmap/costmap
+        - /move_base_node/global_costmap/costmap
+        - /move_base_node/global_costmap/footprint
+        - /safe_teleop_base/local_costmap/costmap
+        - /spots_marker_array
+        - /particlecloud
+        - /base_scan_throttled
+        - /tilt_scan_throttled
+        - /kinect_head/rgb/throttled/camera_info
+        - /kinect_head/depth_registered/throttled/camera_info
+        - /kinect_head/rgb/throttled/image_rect_color/compressed
+        - /kinect_head/depth_registered/throttled/image_rect/compressedDepth
+        - /audio
+  - name: result_recorder_plugin
+    type: app_recorder/result_recorder_plugin
+    plugin_args:
+      result_path: /tmp
+      result_title: pick_object_result.yaml
+  - name: gdrive_uploader_plugin
+    type: app_uploader/gdrive_uploader_plugin
+    plugin_args:
+      upload_file_paths:
+        - /tmp/pick_object_kinect_head.avi
+        - /tmp/pick_object_kinect_head_human_pose_estimator.avi
+        - /tmp/pick_object_rosbag.bag
+        - /tmp/pick_object_result.yaml
+      upload_file_titles:
+        - pick_object_kinect_head.avi
+        - pick_object_kinect_head_human_pose_estimator.avi
+        - pick_object_rosbag.bag
+        - pick_object_result.yaml
+      upload_parents_path: pr2_fridge_pick_object
+      upload_server_name: /gdrive_server
+  - name: speech_notifier_plugin
+    type: app_notifier/speech_notifier_plugin
+    plugin_args:
+      client_name: /robotsound
+  - name: mail_notifier_plugin
+    type: app_notifier/mail_notifier_plugin
+    plugin_args:
+      mail_title: PR2 fridge pick object demo
+      use_timestamp_title: true
+    plugin_arg_yaml: /var/lib/robot/pr2_mail_notifier_plugin.yaml
+plugin_order:
+  start_plugin_order:
+    - kinect_head_video_recorder_plugin
+    - human_pose_estimator_video_recorder_plugin
+    - rosbag_recorder_plugin
+    - result_recorder_plugin
+    - gdrive_uploader_plugin
+    - speech_notifier_plugin
+    - mail_notifier_plugin
+  stop_plugin_order:
+    - kinect_head_video_recorder_plugin
+    - human_pose_estimator_video_recorder_plugin
+    - rosbag_recorder_plugin
+    - result_recorder_plugin
+    - gdrive_uploader_plugin
+    - speech_notifier_plugin
+    - mail_notifier_plugin

detect_cans_in_fridge_201202/apps/pick_object/pick_object.app

@@ -7,11 +7,14 @@
 
 (defun main ()
   (let ((object (string-downcase (get-arg :object))))
+    ;; set default object: georgia
+    (if (null object) (setq object "georgia"))
     (cond
       ((find object (list "wonda" "georgia" "boss" "iemon") :test #'string=)
        (send *ri* :clear-costmap)
-       (demo :type object))
-      (t (speak-jp "ごめんなさい。いまちょっと手が離せないです。")))
+       (demo :type object :use-base nil))
+      (t (speak-jp "ごめんなさい。いまちょっと手が離せないです。")
+       nil))
 ))
 
 (run-exit (main))

detect_cans_in_fridge_201202/apps/pick_object/pick_object.l

@@ -4,3 +4,87 @@ platform: pr2
 launch: detect_cans_in_fridge_201202/pr2_fridge_demo.launch
 interface: detect_cans_in_fridge_201202/pr2_fridge_demo.interface
 icon: detect_cans_in_fridge_201202/pr2_fridge_demo.png
+plugins:
+  - name: kinect_head_video_recorder_plugin
+    type: app_recorder/video_recorder_plugin
+    launch_args:
+      video_path: /tmp
+      video_title: pr2_fridge_demo_kinect_head.avi
+      video_topic_name: /kinect_head/rgb/throttled/image_rect_color
+      video_fps: 5.0
+  - name: human_pose_estimator_video_recorder_plugin
+    type: app_recorder/video_recorder_plugin
+    launch_args:
+      video_path: /tmp
+      video_title: pr2_fridge_demo_kinect_head_human_pose_estimator.avi
+      video_topic_name: /edgetpu_human_pose_estimator/output/image
+      video_fps: 10.0
+  - name: rosbag_recorder_plugin
+    type: app_recorder/rosbag_recorder_plugin
+    launch_args:
+      rosbag_path: /tmp
+      rosbag_title: pr2_fridge_demo_rosbag.bag
+      compress: true
+      rosbag_topic_names:
+        - /rosout
+        - /tf
+        - /tf_static
+        - /joint_states
+        - /map
+        - /base_odometry/odom
+        - /robot_pose_ekf/odom_combined
+        - /base_controller/command
+        - /navigation/cmd_vel
+        - /move_base_node/NavFnROS/plan
+        - /move_base_node/DWAPlannerROS/global_plan
+        - /move_base_node/DWAPlannerROS/local_plan
+        - /move_base_node/local_costmap/costmap
+        - /move_base_node/global_costmap/costmap
+        - /move_base_node/global_costmap/footprint
+        - /safe_teleop_base/local_costmap/costmap
+        - /spots_marker_array
+        - /particlecloud
+        - /base_scan_throttled
+        - /tilt_scan_throttled
+        - /kinect_head/rgb/throttled/camera_info
+        - /kinect_head/depth_registered/throttled/camera_info
+        - /kinect_head/rgb/throttled/image_rect_color/compressed
+        - /kinect_head/depth_registered/throttled/image_rect/compressedDepth
+  - name: gdrive_uploader_plugin
+    type: app_uploader/gdrive_uploader_plugin
+    plugin_args:
+      upload_file_paths:
+        - /tmp/pr2_fridge_demo_kinect_head.avi
+        - /tmp/pr2_fridge_demo_kinect_head_human_pose_estimator.avi
+        - /tmp/pr2_fridge_demo_rosbag.bag
+      upload_file_titles:
+        - pr2_fridge_demo_kinect_head.avi
+        - pr2_fridge_demo_kinect_head_human_pose_estimator.avi
+        - pr2_fridge_demo_rosbag.bag
+      upload_parents_path: pr2_fridge_demo
+      upload_server_name: /gdrive_server
+  - name: speech_notifier_plugin
+    type: app_notifier/speech_notifier_plugin
+    plugin_args:
+      client_name: /robotsound
+  - name: mail_notifier_plugin
+    type: app_notifier/mail_notifier_plugin
+    plugin_args:
+      mail_title: PR2 fridge demo
+      use_timestamp_title: true
+    plugin_arg_yaml: /var/lib/robot/pr2_mail_notifier_plugin.yaml
+plugin_order:
+  start_plugin_order:
+    - kinect_head_video_recorder_plugin
+    - human_pose_estimator_video_recorder_plugin
+    - rosbag_recorder_plugin
+    - gdrive_uploader_plugin
+    - speech_notifier_plugin
+    - mail_notifier_plugin
+  stop_plugin_order:
+    - kinect_head_video_recorder_plugin
+    - human_pose_estimator_video_recorder_plugin
+    - rosbag_recorder_plugin
+    - gdrive_uploader_plugin
+    - speech_notifier_plugin
+    - mail_notifier_plugin

detect_cans_in_fridge_201202/apps/pr2_fridge_demo/pr2_fridge_demo.app

@@ -1,8 +1,8 @@
 #!/usr/bin/env roseus
 
+(require :app-utils "package://jsk_demo_common/euslisp/app-utils.l")
+
 (load "package://detect_cans_in_fridge_201202/euslisp/main.l")
 
-(init)
 (send *ri* :clear-costmap)
-(demo)
-(exit)
+(run-exit (demo :type "georgia"))