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Package Summary

Tags No category tags.
Version 1.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_robot.git
VCS Type git
VCS Version master
Last Updated 2019-10-15
Dev Status DEVELOPED
Released RELEASED

Package Description

jsk_fetch_startup data/boost_sound.wav is downloaded from https://www.youtube.com/watch?v=HM-xG0qXaeA

Additional Links

Maintainers

  • Kei Okada

Authors

No additional authors.

jsk_fetch_startup

SetUp (Running following commands in the first time)

upstart

su -c 'rosrun jsk_fetch_startup install_upstart.sh'

mongodb

sudo mkdir -p /var/lib/robot/mongodb_store/

# to see the db items from http://lcoalhost/rockmongo
sudo apt-get install apache2 libapache2-mod-php5 php5-mongo
wget "http://rockmongo.com/downloads/go?id=14" -O rockmongo.zip
unzip rockmongo.zip
sudo mv rockmongo-1.1.7 /var/www/html/rockmongo
# manually change following line in /var/www/html/rockmongo/config.php
# $MONGO["servers"][$i]["control_auth"] = false; // true;//enable control users, works only if mongo_auth=false

Teleoperation

Below is a flow of commands from Joystick sent to base controller:

safe_teleop_system

joystick_numbered joystick_numbered2

Maintenance

re-roslaunch jsk_fetch_startup fetch_bringup.launch

sudo service jsk-fetch-startup restart

as of 2016/10/26, it uses launch files under ~k-okada/catkin_ws

re-roslaunch fetch_bringup fetch.launch

sudo service robot restart

Clock Synchronization

install chrony and add server `gethostip -d fetch15` offline minpoll 8 to /etc/chrony/chrony.conf, restart chronyd by sudo /etc/init.d/chrony restart and wait for few seconds, if you get

$ chronyc tracking
Reference ID    : 133.11.216.145 (fetch15.jsk.imi.i.u-tokyo.ac.jp)
Stratum         : 4
Ref time (UTC)  : Wed Oct 26 12:32:56 2016
System time     : 0.000006418 seconds fast of NTP time
Last offset     : 0.003160040 seconds
RMS offset      : 0.003160040 seconds
Frequency       : 11.749 ppm fast
Residual freq   : -137.857 ppm
Skew            : 6.444 ppm
Root delay      : 0.185045 seconds
Root dispersion : 0.018803 seconds
Update interval : 2.1 seconds
Leap status     : Normal

it works, if you get 127.127.1.1 for Reference ID, something wrong

Network

General description

Fetch has wired and wireless network connections. If we use both of wired and wireless connections as DHCP, DNS holds two IP addresses for same hostname (fetch15 in this case). This cause problems in network such as ROS communication or ssh connection.

The solution we take now (2016/11/01) is using wired connection as static IP. By doing so, DNS holds only one IP adress (for wireless connection) for fetch hostname.

Case description

If you see the following result, it is OK.

$ nslookup fetch15.jsk.imi.i.u-tokyo.ac.jp
Server:         127.0.1.1
Address:        127.0.1.1#53

Name:           fetch15.jsk.imi.i.u-tokyo.ac.jp
Address: 133.11.216.145

If two or more IP addresses apper, something is wrong. Please connect display, open a window of network manager, and check that wired connection uses static IP.

Access point

Define access point setting, such as ssid:

/etc/wpa_supplicant/wpa_supplicant.conf

Network status log

You can see network status log, such as radio field intensity or data signaling rate:

/var/log/wifi.log

Logging script is initialized at:

/etc/init/jsk-log-wifi.conf

Administration

  • 2016/10/26 add allow 133.11.216/8 to /etc/chrony/chrony.conf
  • 2018/08/26 add 0 10 * * 1-5 /home/fetch/ros/indigo_robot/devel/env.sh rosservice call /fetch15/start_app "name: 'jsk_fetch_startup/go_to_kitchen'" to crontab
    • fetch goes to 73B2 kitchen at 10:00 AM from Monday to Friday.
  • 2019/04/19: add fetch user in pulse-access group.
  • 2019/04/19: set start on runlevel [2345] in /etc/init/pulseaudio.conf.
    • this modification is needed for starting pulseaudio in boot.
    • pulseaudio is required to register USB speaker on head in boot.
  • 2019/04/19: set env DISALLOW_MODULE_LOADING=0 in /etc/init/pulseaudio.conf.
    • this modification is needed for overriding default speaker setting in /etc/init/jsk-fetch-startup.conf
    • overriding default speaker setting to use USB speaker on head is done with pactl set-default-sink $AUDIO_DEVICE in /etc/init/jsk-fetch-startup.conf
  • 2019/04/19: launch jsk_fetch_startup/fetch_bringup.launch by fetch user in /etc/init/jsk-fetch-startup.conf
    • some nodes save files by fetch user
  • 2019/04/19: add arg launch_teleop in /etc/ros/indigo/robot.launch.
  • 2019/04/19: run /etc/ros/indigo/robot.launch with arg launch_teleop:=false.

Apps

Note

You can not run this on Firefox. Please use Google Chrome.

Add fetch to rwt_app_chooser

  1. Access http://tork-a.github.io/visualization_rwt/rwt_app_chooser.
  2. Click ADD A ROBOT button
  3. Select Fetch at Robot type
  4. Type fetch15 at Robot name
  5. Type ws://{fetch's IP adress}:9090/ at Robot URI
  6. Click ADD ROBOT button

Execute demos

  1. Click fetch15 at Select Robot window
  2. Select task which are shown with icons.

select_app

CHANGELOG

Changelog for package jsk_fetch_startup

1.1.0 (2017-07-16)

  • Enable safe teleop for fetch (#801)
    • fetch_gazebo_bringup.launch and fetch_teleop.xml both starts cmd_vel_mux, add roslaunch_add_file_check fetch_gazebo_bringup.launch
    • add roslaunch_depends.py from https://github.com/ros/ros_comm/pull/998 to support if, https://github.com/ros/ros_comm/issues/953 could not load launch file with args directory
    • jsk_fetch_startup/package.xml: missing joy, topic_tools, fetch_teleop depends
    • launch/fetch_teleop.xml run unsafe_warning.l directory, not by roseus package
    • jsk_fetch_startup/package.xml: missing fetch_moveit_config depends
    • [jsk_fetch_startup] exclude fetch_bringup.launch from check
    • [jsk_fetch_startup] move unsafe_warning.l to jsk_robot_startup / enable unsafe_warning on fetch
    • [jsk_fetch_startup] add launch for safe teleop
  • [jsk_pr2_startup] fix: init pose parameter typo for gazebo (#753)
    • [jsk_fetch_startup][fetch_gazebo_73b2.launch] fix: param name typo
  • [jsk_fetch_startup][fetch_bringup.launch] fix: robot/type robot/name (#752)
  • [jsk_fetch_startup][warning.py] fix: suppress warning: \'self.robot_state_msgs is not initialized\' (#750 )
  • Contributors: Kei Okada, Yuki Furuta

1.0.9 (2016-11-09)

1.0.8 (2016-11-08)

1.0.7 (2016-11-02)

  • add network instruction to fetch README
  • [jsk_fetch_startup] add fetch bringup launch files for gazebo (#692 )
    • add gazebo/fetch_gazebo_73b2.launch
    • add fetch_gazebo_bringup.launch
    • fetch_bringup.launch: cleanup launch file
    • fetch_bringup.launch: add launch_move_base args
    • add fetch_driver_msgs to package.xml
    • fetch_bringup.launch: add launch_moveit args
    • add more admin docs
  • [jsk_robot_lifelog] move logging program from jsk_pr2_startup/jsk_pr2_lifelog to jsk_robot_startup/lifelog (#672 )
  • [jsk_fetch_startup/scripts/warning.py] bugfix: error with no robot_state msg is subscribed
  • Contributors: Kei Okada, Masaki Murooka, Yuki Furuta

1.0.6 (2016-06-17)

1.0.5 (2016-04-18)

1.0.4 (2016-03-21)

  • fetch_bringup.launch: fix arg boot_sound
  • Contributors: Kei Okada

1.0.3 (2016-03-05)

  • add jsk_fetch_robot package
  • Contributors: Kei Okada

1.0.2 (2016-02-14)

1.0.1 (2015-11-19)

1.0.0 (2015-11-06 15:17)

0.0.13 (2015-11-06 15:04)

0.0.12 (2015-11-06 14:47)

0.0.11 (2015-09-01)

0.0.10 (2015-08-16)

0.0.9 (2015-08-03)

0.0.8 (2015-07-16)

0.0.7 (2015-06-11)

0.0.6 (2015-04-10)

0.0.5 (2015-04-08)

0.0.4 (2015-01-30)

0.0.3 (2015-01-09)

0.0.2 (2015-01-08)

0.0.1 (2014-12-25)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_fetch_startup at answers.ros.org

Package Summary

Tags No category tags.
Version 1.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_robot.git
VCS Type git
VCS Version master
Last Updated 2019-10-15
Dev Status DEVELOPED
Released RELEASED

Package Description

jsk_fetch_startup data/boost_sound.wav is downloaded from https://www.youtube.com/watch?v=HM-xG0qXaeA

Additional Links

Maintainers

  • Kei Okada

Authors

No additional authors.

jsk_fetch_startup

SetUp (Running following commands in the first time)

upstart

su -c 'rosrun jsk_fetch_startup install_upstart.sh'

mongodb

sudo mkdir -p /var/lib/robot/mongodb_store/

# to see the db items from http://lcoalhost/rockmongo
sudo apt-get install apache2 libapache2-mod-php5 php5-mongo
wget "http://rockmongo.com/downloads/go?id=14" -O rockmongo.zip
unzip rockmongo.zip
sudo mv rockmongo-1.1.7 /var/www/html/rockmongo
# manually change following line in /var/www/html/rockmongo/config.php
# $MONGO["servers"][$i]["control_auth"] = false; // true;//enable control users, works only if mongo_auth=false

Teleoperation

Below is a flow of commands from Joystick sent to base controller:

safe_teleop_system

joystick_numbered joystick_numbered2

Maintenance

re-roslaunch jsk_fetch_startup fetch_bringup.launch

sudo service jsk-fetch-startup restart

as of 2016/10/26, it uses launch files under ~k-okada/catkin_ws

re-roslaunch fetch_bringup fetch.launch

sudo service robot restart

Clock Synchronization

install chrony and add server `gethostip -d fetch15` offline minpoll 8 to /etc/chrony/chrony.conf, restart chronyd by sudo /etc/init.d/chrony restart and wait for few seconds, if you get

$ chronyc tracking
Reference ID    : 133.11.216.145 (fetch15.jsk.imi.i.u-tokyo.ac.jp)
Stratum         : 4
Ref time (UTC)  : Wed Oct 26 12:32:56 2016
System time     : 0.000006418 seconds fast of NTP time
Last offset     : 0.003160040 seconds
RMS offset      : 0.003160040 seconds
Frequency       : 11.749 ppm fast
Residual freq   : -137.857 ppm
Skew            : 6.444 ppm
Root delay      : 0.185045 seconds
Root dispersion : 0.018803 seconds
Update interval : 2.1 seconds
Leap status     : Normal

it works, if you get 127.127.1.1 for Reference ID, something wrong

Network

General description

Fetch has wired and wireless network connections. If we use both of wired and wireless connections as DHCP, DNS holds two IP addresses for same hostname (fetch15 in this case). This cause problems in network such as ROS communication or ssh connection.

The solution we take now (2016/11/01) is using wired connection as static IP. By doing so, DNS holds only one IP adress (for wireless connection) for fetch hostname.

Case description

If you see the following result, it is OK.

$ nslookup fetch15.jsk.imi.i.u-tokyo.ac.jp
Server:         127.0.1.1
Address:        127.0.1.1#53

Name:           fetch15.jsk.imi.i.u-tokyo.ac.jp
Address: 133.11.216.145

If two or more IP addresses apper, something is wrong. Please connect display, open a window of network manager, and check that wired connection uses static IP.

Access point

Define access point setting, such as ssid:

/etc/wpa_supplicant/wpa_supplicant.conf

Network status log

You can see network status log, such as radio field intensity or data signaling rate:

/var/log/wifi.log

Logging script is initialized at:

/etc/init/jsk-log-wifi.conf

Administration

  • 2016/10/26 add allow 133.11.216/8 to /etc/chrony/chrony.conf
  • 2018/08/26 add 0 10 * * 1-5 /home/fetch/ros/indigo_robot/devel/env.sh rosservice call /fetch15/start_app "name: 'jsk_fetch_startup/go_to_kitchen'" to crontab
    • fetch goes to 73B2 kitchen at 10:00 AM from Monday to Friday.
  • 2019/04/19: add fetch user in pulse-access group.
  • 2019/04/19: set start on runlevel [2345] in /etc/init/pulseaudio.conf.
    • this modification is needed for starting pulseaudio in boot.
    • pulseaudio is required to register USB speaker on head in boot.
  • 2019/04/19: set env DISALLOW_MODULE_LOADING=0 in /etc/init/pulseaudio.conf.
    • this modification is needed for overriding default speaker setting in /etc/init/jsk-fetch-startup.conf
    • overriding default speaker setting to use USB speaker on head is done with pactl set-default-sink $AUDIO_DEVICE in /etc/init/jsk-fetch-startup.conf
  • 2019/04/19: launch jsk_fetch_startup/fetch_bringup.launch by fetch user in /etc/init/jsk-fetch-startup.conf
    • some nodes save files by fetch user
  • 2019/04/19: add arg launch_teleop in /etc/ros/indigo/robot.launch.
  • 2019/04/19: run /etc/ros/indigo/robot.launch with arg launch_teleop:=false.

Apps

Note

You can not run this on Firefox. Please use Google Chrome.

Add fetch to rwt_app_chooser

  1. Access http://tork-a.github.io/visualization_rwt/rwt_app_chooser.
  2. Click ADD A ROBOT button
  3. Select Fetch at Robot type
  4. Type fetch15 at Robot name
  5. Type ws://{fetch's IP adress}:9090/ at Robot URI
  6. Click ADD ROBOT button

Execute demos

  1. Click fetch15 at Select Robot window
  2. Select task which are shown with icons.

select_app

CHANGELOG

Changelog for package jsk_fetch_startup

1.1.0 (2017-07-16)

  • Enable safe teleop for fetch (#801)
    • fetch_gazebo_bringup.launch and fetch_teleop.xml both starts cmd_vel_mux, add roslaunch_add_file_check fetch_gazebo_bringup.launch
    • add roslaunch_depends.py from https://github.com/ros/ros_comm/pull/998 to support if, https://github.com/ros/ros_comm/issues/953 could not load launch file with args directory
    • jsk_fetch_startup/package.xml: missing joy, topic_tools, fetch_teleop depends
    • launch/fetch_teleop.xml run unsafe_warning.l directory, not by roseus package
    • jsk_fetch_startup/package.xml: missing fetch_moveit_config depends
    • [jsk_fetch_startup] exclude fetch_bringup.launch from check
    • [jsk_fetch_startup] move unsafe_warning.l to jsk_robot_startup / enable unsafe_warning on fetch
    • [jsk_fetch_startup] add launch for safe teleop
  • [jsk_pr2_startup] fix: init pose parameter typo for gazebo (#753)
    • [jsk_fetch_startup][fetch_gazebo_73b2.launch] fix: param name typo
  • [jsk_fetch_startup][fetch_bringup.launch] fix: robot/type robot/name (#752)
  • [jsk_fetch_startup][warning.py] fix: suppress warning: \'self.robot_state_msgs is not initialized\' (#750 )
  • Contributors: Kei Okada, Yuki Furuta

1.0.9 (2016-11-09)

1.0.8 (2016-11-08)

1.0.7 (2016-11-02)

  • add network instruction to fetch README
  • [jsk_fetch_startup] add fetch bringup launch files for gazebo (#692 )
    • add gazebo/fetch_gazebo_73b2.launch
    • add fetch_gazebo_bringup.launch
    • fetch_bringup.launch: cleanup launch file
    • fetch_bringup.launch: add launch_move_base args
    • add fetch_driver_msgs to package.xml
    • fetch_bringup.launch: add launch_moveit args
    • add more admin docs
  • [jsk_robot_lifelog] move logging program from jsk_pr2_startup/jsk_pr2_lifelog to jsk_robot_startup/lifelog (#672 )
  • [jsk_fetch_startup/scripts/warning.py] bugfix: error with no robot_state msg is subscribed
  • Contributors: Kei Okada, Masaki Murooka, Yuki Furuta

1.0.6 (2016-06-17)

1.0.5 (2016-04-18)

1.0.4 (2016-03-21)

  • fetch_bringup.launch: fix arg boot_sound
  • Contributors: Kei Okada

1.0.3 (2016-03-05)

  • add jsk_fetch_robot package
  • Contributors: Kei Okada

1.0.2 (2016-02-14)

1.0.1 (2015-11-19)

1.0.0 (2015-11-06 15:17)

0.0.13 (2015-11-06 15:04)

0.0.12 (2015-11-06 14:47)

0.0.11 (2015-09-01)

0.0.10 (2015-08-16)

0.0.9 (2015-08-03)

0.0.8 (2015-07-16)

0.0.7 (2015-06-11)

0.0.6 (2015-04-10)

0.0.5 (2015-04-08)

0.0.4 (2015-01-30)

0.0.3 (2015-01-09)

0.0.2 (2015-01-08)

0.0.1 (2014-12-25)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_fetch_startup at answers.ros.org