jsk_robot_startup ===

## lifelog

see [lifelog/README.md](lifelog/README.md)

## scripts/email_topic.py

This node sends email based on received rostopic (jsk_robot_startup/Email). Default values can be set by using ~email_info There is [a client library](./euslisp/email-topic-client.l) and [sample program](./euslisp/sample-email-topic-client.l). If you want to see a demo. Please [configure a smtp server](https://github.com/jsk-ros-pkg/jsk_robot/tree/master/jsk_robot_common/jsk_robot_startup#configuring-a-smtp-server-with-gmail) and setup your email_info yaml at /var/lib/robot/email_info.yaml and run.

`bash roslaunch jsk_robot_startup sample_email_topic.launch receiver_address:=<a mail address to send a mail to> `

### Parameters

  • ~email_info (type: String, default: /var/lib/robot/email_info.yaml)

Default values of email configuration. Example of a yaml file is below.

```yaml subject: hello body: world sender_address: hoge@test.com receiver_address: fuga@test.com smtp_server: test.com smtp_port: 25 attached_files:

  • /home/user/Pictures/test.png

```

### Subscriber

  • email (type: jsk_robot_startup/Email)

Subscriber of email command.

## scripts/ConstantHeightFramePublisher.py ![pointcloud_to_scan_base_tf_squat.png](images/pointcloud_to_scan_base_tf_squat.png) ![pointcloud_to_scan_base_tf_stand.png](images/pointcloud_to_scan_base_tf_stand.png)

This script provides a constant height frame from the ground to get a imagenary laser scan for pointcloud_to_laserscan package. Biped robots need to use this constant frame to get constant laser scan for 2D SLAM package for wheeled ones like gmapping, because the pose of biped robots including height of the base link changes during a task in contrast to wheeled ones. In this frame, x, y and yaw is same as base frame of the robot body, z is constant and roll and pitch is same as the ground.

### Parameters

  • ~parent_frame (String, default: “BODY”)

    This parameter indicates the parent frame of the constant height frame, which is expected to be a base frame of the robot body.

  • ~odom_frame (String, default: “odom”)

    This parameter indicates the odometry frame on the ground.

  • ~frame_name (String, default: “pointcloud_to_scan_base”)

    This parameter indicates the name of the constant frame.

  • ~rate (Double, default: 10.0)

    This parameter indicates publish rate [Hz] of the constant frame.

  • ~height (Double, default: 1.0)

    This parameter indicates initial height [m] of the constant frame.

### Subscribing Topics

  • ~height (std_msgs/Float64)

    This topic modifies height [m] of the constant frame.

## util/initialpose_publisher.l

This script sets initial pose with relative pose from specified TF frame by publishing /initialpose.

### Parameters

  • ~transform_base (String, default: “map”)

    TF frame of publishing topic /initialpose.

  • ~transform_frame (String, default: “eng2/7f/73B2”)

    Base TF frame to calcurate relative initial pose

  • ~initial_pose_x (Double, default: 0.0)

    Relative pose x

  • ~initial_pose_y (Double, default: 0.0)

    Relative pose y

  • ~initial_pose_yaw (Double, default: 0.0)

    Relative pose yaw

### Subscribing Topics

  • /amcl_pose (geometry_msgs/PoseWithcovariancestamped)

## util/mux_selector.py

This node check and select mux input topic on condition of the specified topic. This node takes three arguments for one topic. The first one is the topic to be monitored. When a message from this topic is received, it is assigned as a variable m. If a condition specified as the second argument, this node calls a service to select the topic specified as the third argument.

### Usage

` rosrun jsk_robot_startup mux_selector.py /joy1 'm.buttons[9]==1' /cmd_vel1 /joy2 'm.buttons[9]==1' /cmd_vel2 `

### Parameters

  • ~patient (Double, default: 0.5)

    Indicates the allowable range of the difference between the received topic time and the current time.

  • ~frequency (Double, default: 20.0)

    Frequency of processing loop.

  • ~default_select (String, default: None)

    Default topic name.

  • ~wait (Bool, default: False)

    If wait is True, this node waits for the topic to be received.

### Subscribing Topics

The topic specified in the argument is subscribed.

## scripts/check_room_light.py

This node publish the luminance calculated from input image and room light status.

### Subscribing Topics

  • ~input (sensor_msgs/Image or sensor_msgs/CompressedImage)

    Input topic image

### Publishing Topics

  • ~output (jsk_robot_startup/RoomLight)

    Room light status and room luminance

### Parameters

  • ~luminance_threshold (Float, default: 50)

    Luminance threshold to deteremine whether room light is on or off

  • ~image_transport (String, default: raw)

    Image transport hint.

## scripts/shutdown.py

This node shuts down or reboots the robot itself according to the rostopic. Note that this node needs to be run with sudo privileges.

### Subscribing Topics

  • shutdown (std_msgs/Empty)

    Input topic that trigger shutdown.

    If ~input_condition is set, evaluated ~input_condition is True and this node received this topic, shutdown will be executed.

    If you want to force a shutdown in any case, set ~input_condition to None and send shutdown topic.

  • reboot (std_msgs/Empty)

    Input topic that trigger reboot

  • ~input (AnyMsg)

    Input ros message for ~input_condition.

### Parameters

  • ~shutdown_command (String, default: “/sbin/shutdown -h now”)

    Command to shutdown the system. You can specify the shutdown command according to your system.

  • ~reboot_command (String, default: “/sbin/shutdown -r now”)

    Command to reboot the system. You can specify the reboot command according to your system.

  • ~input_condition (String, default: None)

    Specify condition to run ~shutdown_command even if shutdown topic is received. Use a Python expression that returns a bool value. In addition to a Python builtin functions, you can use topic (the topic of the message), m (the message) and t (time of message).

    For example, ~input topic is std_msgs/String and if you want to check whether a sentence is a hello, you can do the following.

    ` input_condition: m.data == 'hello' `

    If you want to check the frame id of the header, you can do the following.

    ` input1_condition: m.header.frame_id in ['base', 'base_link'] `

    For example, to prevent shutdown while the real Fetch is charging, write as follows.

    ` input_condition: 'm.is_charging is False' `

    In this case, the ~input is the /battery_state (power_msgs/BatteryState) topic. power_msgs/BatteryState has the following values and is_charging is True if charging, False otherwise.

    ` $ rosmsg show power_msgs/BatteryState string name float32 charge_level bool is_charging duration remaining_time float32 total_capacity float32 current_capacity float32 battery_voltage float32 supply_voltage float32 charger_voltage `

    Note that, use escape sequence when using the following symbols <(&lt;), >(&gt;), &(&amp;), '(&apos;) and "(&quot;).

### Usage

` # Launch node $ su [sudo user] -c ". [setup.bash]; rosrun jsk_robot_startup shutdown.py" # To shutdown robot rostopic pub /shutdown std_msgs/Empty # To restart robot rostopic pub /reboot std_msgs/Empty `

## scripts/smach_to_mail.py

This node sends smach messages to /email, /tweet, etc… to notify robot state transition.

```mermaid flowchart TB

subgraph S[Demo Code Running on SMACH]

START –> State_1 State_1 –> State_2 State_2 –> END

end

subgraph E[SMACH To Notification]

id1[(state list<br>DESCRIPTION / IMAGE<br>DESCRIPTION / IMAGE<br>…)]

id1 –> email[[pub /email jsk_robot_startup::Email]] id1 –> tweet[[pub /tweet std_msgs::String]] id1 –> chat[[pub /google_chat_ros/send/goal<br>google_chat_ros::SendMessageAction]]

end S –>|”[{‘DESCRIPTION’: string, ‘IMAGE’: base64}]”| E email –> email_body([“DESCRIPTION[0]<br>DESCRIPTION[1]<br>IMAGE[1]<br>DESCRIPTION[1]<br>IMAGE[1]<br>…”]) tweet –> tweet_body1([“DESCRIPTION[0]”]) tweet_body1 –> tweet_body2([“DESCRIPTION[1]<br>IMAGE[1]”]) tweet_body2 –> tweet_body3([“DESCRIPTION[2]<br>IMAGE[2]”]) chat –> chat_body1([“DESCRIPTION[0]”]) chat_body1 –> chat_body2([“DESCRIPTION[1]<br>IMAGE[1]”]) chat_body2 –> chat_body3([“DESCRIPTION[2]<br>IMAGE[2]”])

```

### Subscribing Topics

  • ~smach/container_status (smach_msgs/SmachContainerStatus)

    Input topic smach status

### Publishing Topics

  • /email (jsk_robot_startup/Email)

    Email message with description and image

  • /tweet (std_msgs/String)

    Tweet message with description and image

  • /google_chat_ros/send/goal (google_chat_ros/SendMessageActionGoal)

    Send google chat message with description and image.

### Parameters

  • ~sender_address (String)

    Sender address

  • ~receiver_address (String)

    Receiver address

  • ~google_chat_space (String)

    Receiver Google Chat space name

  • ~google_chat_tmp_image_dir (String)

    Directory where images are temporarily stored for google_chat_ros

## launch/safe_teleop.launch

This launch file provides a set of nodes for safe teleoperation common to mobile robots. Robot-specific nodes such as /joy, /teleop or /cable_warning must be included in the teleop launch file for each robot, such as [safe_teleop.xml for PR2](https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_move_base/safe_teleop.xml) or [safe_teleop.xml for fetch](https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml).

![JSK teleop_base system](images/jsk_safe_teleop_system.png)

## launch/rfcomm_bind.launch

This script binds rfcomm device to remote bluetooth device. By binding rfcomm device, we can connect bluetooth device via device file (e.g. /dev/rfcomm1). For example, rosserial with [this PR](https://github.com/ros-drivers/rosserial/pull/569) can be used over bluetooth connection.

### Usage

Save the bluetooth device MAC address to file like /var/lib/robot/rfcomm_devices.yaml.

``` - name: device1

address: XX:XX:XX:XX:XX:XX

  • name: device2 address: YY:YY:YY:YY:YY:YY

```

Then, bind rfcomm devices.

` roslaunch jsk_robot_startup rfcomm_bind.launch `

To check how many devices are bound to rfcomm, use rfcomm command. ` rfcomm `

## Tips ### Configuring a smtp server with Gmail 1. Setting postfix

Add following codes to /etc/postfix/main.cf ` relayhost = smtp.gmail.com:587 smtp_sasl_auth_enable = yes smtp_sasl_password_maps = hash:/etc/postfix/gmail_passwd smtp_sasl_security_options = noanonymous smtp_sasl_mechanism_filter = plain smtp_use_tls = yes ` 2. Create and register a password file

Create /etc/postfix/gmail_passwd ` # /etc/postfix/gmail_passwd smtp.gmail.com:587 <example>@gmail.com:<login password or application password> ` Register /etc/postfix/gmail_passwd `bash $ sudo postmap /etc/postfix/gmail_passwd ` If you find /etc/postfix/gmail_passwd.db, it works well.

3. Reload postfix `bash $ sudo postfix reload `