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 2021-10-19
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

jsk_pr2_startup

Additional Links

Maintainers

  • Kei Okada
  • Yuki Furuta

Authors

No additional authors.

jsk_pr2_startup

setup

. rewrite /etc/ros/robot.launch

Please rewrite /etc/ros/robot.launch like following:

<launch>

    <!-- Robot Description --> <param name="robot_description" textfile="/etc/ros/groovy/urdf/robot.xml" />

    <!-- Robot Analyzer --> <rosparam command="load" file="$(find pr2_bringup)/config/pr2_analyzers.yaml" ns="diag_agg" />

    <!-- Robot bringup --> 
    <include file="$(find jsk_pr2_startup)/pr2_bringup.launch" />
    <!-- <group> -->
    <!--   <remap from="/joy" to="/joy_org"/> -->
    <!--   <include file="$(find pr2_bringup)/pr2.launch" /> -->
    <!-- </group> -->

    <!-- Web ui --> <!-- include file="$(find webui)/webui.launch" /> -->

    <!-- Android app --> <include file="$(find local_app_manager)/app_manager.launch" >
      <arg name="ROBOT_NAME" value="pr1012" />
      <arg name="ROBOT_TYPE" value="pr2" />
    </include>

    <!-- RobotWebTools --> <include file="$(find rwt_image_view)/launch/rwt_image_view.launch"/>

    <!-- kinect -->
    <include file="$(find jsk_pr2_startup)/jsk_pr2_sensors/kinect_head.launch">
      <arg name="respawn" value="false" />
    </include>
    <rosparam file="/etc/ros/robot.yaml"/>
</launch> 


launch mongodb for multiple users

Different users in same unix group can't run mongod against single db owned by that group. This is because mongod opens database files using the O_NOATIME flag to the open system call. Open with O_NOATIME only works if the UID completelly matchs or the caller is priviledged (CAP_FOWNER) for security reasons. So if you want to launch mongodb with shared database resouces, it's better to use POSIX Capabilities in Linux.

# In Ubuntu
$ sudo aptitude install libcap2-bin
$ sudo setcap cap_fowner+ep /usr/bin/mongod

Hark with Microcone

documentation

CHANGELOG

Changelog for package jsk_pr2_startup

1.1.0 (2017-07-16)

  • Enable safe teleop for fetch (#801)
    • [jsk_fetch_startup] move unsafe_warning.l to jsk_robot_startup / enable unsafe_warning on fetch
    • [jsk_pr2_startup] move mux_selector.py to jsk_robot_startup
  • [jsk_pr2_startup][pr2.launch] update voice_text launch (#796)
  • [jsk_pr2_startup] fix: pr2 move_base local cost map does not work on gazebo (#736)
  • [jsk_pr2_startup] fix: init pose parameter typo for gazebo (#753)
    • [jsk_pr2_startup] fix param for initialpose_publisher.l
  • [jsk_pr2_startup] IAI kitchen gazebo startup launch (#695 )
    • [jsk_pr2_startup] add iai_kitchen gazebo startup launch
    • [jsk_pr2_startup/pr2.launch] add launch_map option
  • Contributors: Kei Okada, Yuki Furuta

1.0.9 (2016-11-09)

  • Update jsk_pr2.rosinstall
  • Contributors: Kentaro Wada

1.0.8 (2016-11-08)

1.0.7 (2016-11-02)

  • [jsk_pr2_startup/pr2_gazebo.launch] add default environment variables for launching pr2 gazebo
  • [jsk_robot_startup] move initialpose_publisher.l from jsk_pr2_startup/jsk_pr2_move_base
  • [jsk_robot_lifelog] move logging program from jsk_pr2_startup/jsk_pr2_lifelog to jsk_robot_startup/lifelog
  • [jsk_pr2_startup] remove meta package from dependencies
  • [pr2_base_trajectory_action] remove dependency to pr2_controller_msgs
    • refactor codes
    • remove pr2 related packages from dependencies
    • use control_msgs/FollowJointTrajectoryAction
    • support feedback message
    • added test codes
    • some bugfixes of old codes
    • checked on real robot
    • update launch files
  • [jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/people_detection.launch] add remap rgb_ns -> rgb (#630)
  • Contributors: Yuki Furuta

1.0.6 (2016-06-17)

  • fix too long file name in deb build (#618)
    • fix too long file name in deb build
    • update maintainer names
  • Contributors: Kei Okada

1.0.5 (2016-04-18)

  • [jsk_pr2_startup/CMakeLists.txt] install launch files related gazebo
  • Merge pull request #577 from mmurooka/add-run-dependency [jsk_pr2_startup/package.xml] add run_dependency.
  • [jsk_pr2_startup/package.xml] add run_dependency.
  • [jsk_pr2_startup/jsk_pr2.rosinstall] update jsk_robot to 1.0.2 for applying the fix in #539
  • Contributors: Yuki Furuta, Kei Okada, Masaki Murooka

1.0.4 (2016-03-21)

1.0.3 (2016-03-05)

1.0.2 (2016-02-14)

  • [jsk_pr2_startup/jsk_pr2_lifelog/objectdetection_db.py] unsubscribe objectdetection topics which has no other subscribers
  • [jsk_pr2_startup/jsk_pr2_move_base/costmap_common_params.yaml] fix: initial inflation range
  • [jsk_pr2_startup/jsk_pr2_lifelog] add limit for querying lifelog related documents
  • [jsk_pr2_startup/package.xml] add eusurdf to run_depend ref: https://github.com/jsk-ros-pkg/jsk_robot/issues/512
  • [jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py] refactor check_openni_node.py
  • [jsk_pr2_startup/jsk_pr2_move_base] remove nice +10 of move_base_node
  • [jsk_pr2_startup/jsk_pr2_move_base] increase update frequency to 10.0 Hz
  • [jsk_pr2_startup/pr2_gazebo.launch] change gripper stall_velocity_threshold param to avoid stuck on move-gripper :wait t
  • [jsk_pr2_startup/pr2_gazebo.launch] add relay to /kinect_head_c2/depth_registered/points_throttle
  • [jsk_pr2_startup/jsk_pr2_move_base/initialpose_publisher.l] add initialpose_publisher.l
  • [jsk_pr2_startup/sample/pr2_gazebo_73b2|610.launch] add initial pose args
  • [jsk_pr2_startup/pr2_gazebo.launch] fix: disable launch only for real robot; avoid check_cable
  • [jsk_pr2_startup/package.xml] add missing run dependencies
  • [jsk_pr2_startup/jsk_pr2_move_base] split global_costmap_params for avoiding segfault
  • [jsk_pr2_startup] Divide hand / base Tracking in Each Node for cameraman rocon
  • Merge branch \'add-rocon\' of github.com:aginika/jsk_robot into add-rocon
  • add rocon launch/configs
  • add rocon launch/configs
  • update .rosinstall for pr2 demos
  • Contributors: Yuki Furuta, Yuto Inagaki

1.0.1 (2015-11-19)

  • Record battery info before pwer go off #474
  • Contributors: Chi Wun Au

1.0.0 (2015-11-06)

0.0.13 (2015-11-06)

0.0.12 (2015-11-06)

  • support mongodb-based life-log
    • [db_client] add machine option for mongodb client
    • [jsk_pr2_startup/jsk_pr2_lifelog/action_result_db.py] fix: ignore useless type subscription
    • [jsk_pr2_startup/pr2_bringup.launch] use replication dump temp path on /removable instead of /tmp
    • [jsk_pr2_startup] add db client params and map_frame in pr2.launch
    • [jsk_pr2_startup/jsk_pr2_lifelog/db_client.launch] add result of face recognition data for recording to db
    • [jsk_pr2_startup/jsk_pr2_lifelog/db_client.launch] fix excluding topics for db record
    • [jsk_pr2_startup/jsk_pr2_lifelog/objectdetection_db.py] store NOT \'_agg\' topics instead of \'_agg\' for support applications that publish msgs without \"_agg\" topic
    • [jsk_pr2_startup/jsk_pr2_lifelog/action_result_db_config.yaml] remove gripper action from black_list
    • [jsk_pr2_startup/jsk_pr2_lifelog/visualization] add visualization nodes for database
    • [jsk_pr2_startup/jsk_pr2_lifelog/mongodb_log.py] fix mongodb_log.py to support logging with jsk name convention
    • [jsk_pr2_startup/jsk_pr2_lifelog/pr2-tweet-log.l] add twitter node for logging
  • Sounds
    • [jsk_pr2_startup] remap sound_play nodes to robotsound
    • [jsk_pr2_startup/pr2_hark] fix issue https://github.com/jsk-ros-pkg/jsk_robot/issues/359
      • Update Transfer function data for Hark >2.1
      • Update batch files for new transfer function data
      • support stand-alone launch of pr2_hark.launch
      • Update README
  • Misc updates
    • [jsk_pr2_startup] Wording in plugin description
    • [jsk_pr2_startup] modify typo in jsk_pr2.rosinstall
    • [jsk_pr2_startup] add some args to pr2.launch
    • [.rosinstall] fix face_recognition to upstream
    • [jsk_pr2_startup] add face_recognition
    • [jsk_pr2_startup] update global costmap params
    • [jsk_pr2_startup] change the order of local costmap plugin
    • [jsk_pr2_startup] add pr2_gazebo_610.launch as sample
  • Contributors: Yuki Furuta, Isaac IY Saito, Yuto Inagaki

0.0.11 (2015-09-01)

0.0.10 (2015-08-16)

  • [jsk_pr2_startup] logging images/pointclouds/tf/jointstates/people
  • [jsk_pr2_startup] enable logging pr2_gripper_action
  • [jsk_pr2_startup] add pr2 heightmap sample launch
  • [jsk_pr2_startup/package.xml] add missing deps for pr2
  • [jsk_pr2_startup/pr2_gazebo.launch] use relay/republish instead of rgbd_launch for creating rectified images
  • [jsk_pr2_startup/package.xml] add social_navigation_layers to run_depends
  • [jsk_robot_startup] use param \"robot/name\" [jsk_pr2_startup] use daemon mongod
  • Revert \"[jsk_robot] unified database\"
  • [jsk_pr2_startup/jsk_pr2.rosinstall] add temporal missing package mongodb_store
  • Contributors: Yuki Furuta, Yuto Inagaki

0.0.9 (2015-08-03)

  • [jsk_pr2_startup] add 73b2 sample launch file
  • [jsk_pr2_startup/people_detection.launch] add people tracker
  • [jsk_pr2_startup] add rosinstall for jsk pr2
  • [jsk_robot] use common database jsk_robot_lifelog, with identify with collection name ROBOT_NAME
  • [jsk_pr2_startup/pr2_bringup.launch] use daemon mode mongod for pr2
  • change openni namespace to kinect_head
  • [jsk_pr2_startup/pr2_gazebo.launch] add initial pose of pr2 in gazebo
  • [jsk_pr2_startup] fix typo in pr2.launch
  • Contributors: Yuki Furuta, Yuto Inagaki, Chi Wun Aau, Hitoshi Kamada

0.0.8 (2015-07-16)

  • [jsk_pr2_startup] add option map_frame to change eng2/eng8
  • [jsk_pr2_startup/pr2_gazebo.launch] include rgbd_launch to rectify kinect rgb image
  • [jsk_pr2_startup] add pr2_gazebo.launch
  • [jsk_pr2_startup] use env ROBOT for including machine tags
  • [jsk_pr2_startup/jsk_pr2_sensors/kinect_head.launch] add deprecated relay for openni_c2 rgb, depth, depth_registered topics
  • [jsk_pr2_startup] use kinect_head(_c2) instead of openni(_c2) following pr2 default naming
  • [jsk_pr2_startup/jsk_pr2_move_base] fix topic name /base_scan_filtered -> base_scan
  • [jsk_pr2_startup/jsk_pr2_move_base] split name space along with modules; use hydro-based costmap params
  • [jsk_pr2_startup/jsk_pr2_move_base] enable clear params option to move_base_node; increase nice value
  • [jsk_pr2_start_up] set ROBOT=pr2 in rossetpr10XX
  • Contributors: Kentaro Wada, Yuki Furuta

0.0.7 (2015-06-11)

  • solve not updating problem after recharge
  • speak the percentage of the battery with min charge
  • [jsk_pr2_startup] warn more detail batrery information
  • Contributors: Yuki Furuta, Chi Wun Au

0.0.6 (2015-04-10)

0.0.5 (2015-04-08)

  • [jsk_pr2_startup] Add rossetpr1012 and rossetpr1040 automatically by env-hooks
  • add deps jsk_interactive_marker for jsk_pr2_startup
  • add pr2 deps package for build test
  • use only catkin; add deps for running pr2.launch
  • add dwa_local_planner to build/run dependencies
  • add move_base_msgs, roseus to build dependencies
  • update readme for launching mongodb by multi users
  • [jsk_pr2_startup] Remove collider related roslaunch
  • launch mongodb when robot starts
  • add action_result_db to record action result/goal and joint_states
  • add tilt_scan_interpolated topic
  • add openni_cloud_self_filter to launch as default and publish color pointclouds
  • tested objectdetection for all camera on PR2
  • tested on PR2
  • fix option of db_client launch
  • add debug message to objectdetection_db.py
  • [jsk_pr2_robot] Use jsk_network_tools\' euslisp code to compress/decompress joint angles
  • migrate pr2 move_base, objectdetection db from postgre to mongodb
  • Contributors: Ryohei Ueda, Yuki Furuta, Yuto Inagaki

0.0.4 (2015-01-30)

  • [jsk_pr2_startup] Remove unrequired return-from in pr2-compressed-angle-vector-interface
  • rename pr2-compressed-angle-vector-interface.l
  • use string to set data
  • fix typo
  • update to work
  • add jsk_pr2_teleop

0.0.3 (2015-01-09)

0.0.2 (2015-01-08)

  • add install commands to cmake
  • [jsk_pr2_startup] Disable collider node, it\'s out of date
  • Merge pull request #232 from garaemon/rename-hydro-recognition [jsk_pr2_startup] rename hydro_recognition.launch to people_detection.launch and start it up default
  • [jsk_pr2_startup] Remove torso_lift_link from self filtering of tilt laser to avoid too much filtering of points. And update padding of shoulder links to remove veiling noise
  • [jsk_pr2_startup] rename hydro_recognition.launch to people_detection.launch and start it up in default.
  • Merge pull request #230 from garaemon/move-image-processing-to-c2 [jsk_pr2_startup] Move several image processing to c2 to avoid heavy network communication between c1 and c2
  • [jsk_pr2_startup] Move several image processing to c2 to avoid heavy network communication between c1 and c2
  • [jsk_pr2_startup] Throttle before applying image_view2 to decrease CPU load
  • use robot-actions.l
  • Fix parameter namespace to slow down pr2_gripper_sensor_action
  • Use longer priod to check openni soundness
  • use rostwitter and python_twoauth
  • Contributors: Kei Okada, Ryohei Ueda, Yusuke Furuta

0.0.1 (2014-12-25)

  • Restarting kinect paranoiac 1) usb reset 2) kill nodelet manager 3) kill child processing 4) restart openni.launch (hardcoded!)
  • Add rviz_mouse_point_to_tablet.py to pr2.launch
  • Use larger value to detect gound object by PR2 to avoid small noises
  • Add sound when launching pr2.launch
  • kill nodelet manager and processes rather than killing openni/driver
  • Say something at the end of pr2.launch
  • Use low framerate for gripper sensors to avoid high load
  • move twitter related program to robot_common from jsk_pr2_startup
  • modify launch file for gazebo
  • add yaml file for gazebo
  • delete LaserScanIntensityFilter
  • modify sensors_kinect and add sensors
  • move pr2 related package under jsk_pr2_robot
  • Contributors: Ryohei Ueda, Yuto Inagaki, Yusuke Furuta

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • sample/pr2_heightmap.launch
      • input_cloud [default: /tilt_scan_shadow_filtered]
      • DEBUG_VIEW [default: false]
  • sample/pr2_gazebo_73b2.launch
      • INITIAL_POSE_X [default: 1.0]
      • INITIAL_POSE_Y [default: 0.0]
      • INITIAL_POSE_YAW [default: 0.0]
  • sample/pr2_gazebo_610.launch
      • INITIAL_POSE_X [default: 1.0]
      • INITIAL_POSE_Y [default: 0.0]
      • INITIAL_POSE_YAW [default: 0.0]
  • jsk_pr2_sensors/kinect_head_self_filter.launch
      • ROBOT [default: $(optenv ROBOT sim)]
      • machine [default: c2]
      • respawn [default: true]
      • camera [default: kinect_head]
  • jsk_pr2_sensors/tablet_startup.launch
  • jsk_pr2_sensors/pr2_teleop_robot.launch
      • launch_tf_buffer [default: true]
      • launch_image_resized [default: true]
      • launch_image_roi [default: true]
      • launch_interactive_controller [default: true]
      • tf_update_rate [default: 1.0]
  • jsk_pr2_sensors/camera_framerate.launch
      • framerate [default: 3.0]
  • jsk_pr2_sensors/people_detection.launch
      • face_detect [default: true]
      • leg_detect [default: true]
      • publish_people [default: true]
      • camera [default: kinect_head]
      • image_topic [default: image_rect_color]
      • depth_topic [default: image_raw]
      • fixed_frame [default: kinect_head_rgb_optical_frame]
      • depth_ns [default: depth_registered]
  • jsk_pr2_sensors/kinect_head_c2.launch
    • Originated from /opt/ros/indigo/share/openni_launch/launch/openni.launch
      • camera [default: kinect_head]
      • deprecated_relay [default: false]
      • manager [default: kinect_head_c2_nodelet_manager]
      • debug [default: false]
      • rgb_frame_id [default: $(arg camera)_rgb_optical_frame]
      • depth_frame_id [default: $(arg camera)_ir_optical_frame]
      • device_id [default: #1]
      • rgb_camera_info_url [default: ]
      • depth_camera_info_url [default: ]
      • depth_registration [default: true]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth [default: depth]
      • depth_registered [default: depth_registered]
      • depth_registered_filtered [default: depth_registered]
      • projector [default: projector]
      • load_driver [default: false]
      • publish_tf [default: false]
      • rgb_processing [default: true]
      • ir_processing [default: true]
      • depth_processing [default: true]
      • depth_registered_processing [default: true]
      • disparity_processing [default: true]
      • disparity_registered_processing [default: true]
      • hw_registered_processing [default: true]
      • sw_registered_processing [default: true]
      • bond [default: false]
      • respawn [default: $(arg bond)]
      • num_worker_threads [default: 4]
  • jsk_pr2_sensors/openni_tracker.launch
  • jsk_pr2_sensors/pr2_teleop_remote.launch
      • REMOTE_TF [default: /tf_low_frequency]
      • launch_tf_buffer [default: true]
      • launch_pcl_roi [default: true]
      • launch_image_resized [default: true]
      • launch_image_roi [default: true]
      • launch_interactive_controller [default: true]
  • jsk_pr2_sensors/kinect_head.launch
      • load_driver [default: true] — launch driver set to false on gazebo
      • respawn [default: true]
      • use_c2 [default: true] — Launch nodes for registration on C2
      • deprecated_relay [default: true] — advertise to deprecated kinect_head_c2 ns
      • camera [default: kinect_head]
      • num_worker_threads [default: 8]
      • monitor_driver [default: false]
      • throttle_rgb [default: true]
      • throttle_depth [default: true]
      • throttle_cloud [default: true]
      • throttle_rate [default: 5.0]
      • manager [default: kinect_head_nodelet_manager]
      • manager [default: kinect_head_c2_nodelet_manager]
      • registration_c1 [default: true]
      • registration_c1 [default: false]
      • machine [default: c1]
      • machine [default: c2]
  • jsk_pr2_sensors/pr2_remote_startup.launch
      • MACHINE [default: localhost]
      • launch_openni [default: true]
      • launch_battery [default: false]
  • jsk_pr2_lifelog/rosbag_play.launch
      • rosbag
      • manager [default: rosbag_play_nodelet_manager]
      • launch_nodelet_manager [default: true]
      • loop [default: true]
      • gui [default: false]
  • jsk_pr2_lifelog/pr2_gdrive_server.launch
      • machine [default: localhost]
      • settings_yaml [default: $(optenv GOOGLE_DRIVE_SETTINGS_YAML /var/lib/robot/pydrive_settings.yaml)]
      • respawn [default: false]
      • node_name [default: gdrive_server]
  • jsk_pr2_lifelog/pr2_tweet.launch
  • jsk_pr2_lifelog/rosbag_record.launch
      • rosbag — rosbag file path
      • compress [default: false] — whether compress rosbag or not.
  • jsk_pr2_lifelog/visualization/pr2_log_visualization.launch
      • ROBOT [default: $(env ROBOT)]
  • jsk_pr2_lifelog/active_user_diag.launch
  • jsk_pr2_lifelog/db_client.launch
      • ROBOT [default: $(env ROBOT)]
      • map_frame [default: eng2]
      • visualize_log [default: false]
      • twitter [default: true]
      • machine [default: c2]
      • output [default: screen]
  • jsk_pr2_lifelog/pr2_microphone.launch
      • use_microcone [default: false]
      • use_respeaker [default: true]
      • language [default: ja-JP]
      • machine [default: c1]
      • machine [default: c2]
      • ROBOT [default: $(optenv ROBOT pr2)]
  • jsk_pr2_moveit/start_pr2_moveit.launch
      • USE_LASER_AND_KINECT [default: true]
      • USE_LASER [default: false]
      • USE_KINECT [default: false]
  • jsk_pr2_moveit/demo.launch
  • jsk_pr2_moveit/start_pr2_moveit_remote.launch
      • USE_LASER_AND_KINECT [default: false]
      • USE_LASER [default: false]
      • USE_KINECT [default: true]
  • jsk_pr2_perception/mask_rcnn.launch
      • GPU [default: 0]
      • IMAGE_COLOR [default: /kinect_head/rgb/image_rect_color]
      • POINTS [default: /kinect_head/depth_registered/points]
  • jsk_pr2_perception/openpose.launch
      • GPU [default: 0]
      • IMAGE_DEPTH [default: /kinect_head/depth_registered/image_rect]
      • IMAGE_COLOR [default: /kinect_head/rgb/image_rect_color]
      • CAMERA_INFO [default: /kinect_head/depth_registered/camera_info]
  • jsk_pr2_perception/pr2_perception.launch
      • GPU [default: 0]
      • CAMERA_INFO [default: /kinect_head/depth_registered/camera_info]
      • IMAGE_DEPTH [default: /kinect_head/depth_registered/image_rect]
      • IMAGE_COLOR [default: /kinect_head/rgb/image_rect_color]
      • DECOMP_CAMERA_INFO [default: /kinect_head_decompressed/depth_registered/camera_info]
      • DECOMP_RGB_CAMERA_INFO [default: /kinect_head_decompressed/rgb/camera_info]
      • DECOMP_IMAGE_DEPTH [default: /kinect_head_decompressed/depth_registered/image_rect]
      • DECOMP_IMAGE_COLOR [default: /kinect_head_decompressed/rgb/image_rect_color]
      • DECOMP_POINTS [default: /kinect_head_decompressed/depth_registered/points]
  • pr2_bringup.launch
      • launch_stereo_camera [default: true]
      • launch_runtime_logger [default: false]
      • launch_hd_monitor [default: true]
      • launch_ntp_monitor [default: true]
      • launch_wifi_ddwrt [default: false]
      • launch_network_detector [default: true]
      • launch_sound_play [default: true]
      • launch_network_status [default: true]
      • launch_audio_play [default: true]
      • launch_app_manager [default: true]
      • setup_mannequin_mode [default: true] — prepares mannequin_mode to be callable by EusLisp interface
      • no-prosilica [default: false]
  • jsk_pr2_joy/image_snapshot_joy.launch
      • JOY_CONFIG [default: $(find jsk_teleop_joy)/configs/padkontrol.yaml]
      • HEAD_PUB_BUTTON [default: 0]
      • LHAND_PUB_BUTTON [default: 1]
      • RHAND_PUB_BUTTON [default: 2]
  • jsk_pr2_move_base/pr2_teleop_general_joystick.launch
  • jsk_pr2_move_base/pr2_2dnav.launch
    • This file is originally pr2_2dnav/pr2_2dnav.launch
      • gazebo [default: false]
      • launch_look_forward [default: true]
      • launch_teleop_joystick [default: true]
      • launch_navigation [default: true]
      • use_map_keepout [default: false]
  • pr2_jsk_interactive.launch
  • pr2.launch
      • map_frame [default: eng2]
      • launch_map [default: true]
      • launch_kinect [default: true]
      • launch_move_base [default: true]
      • launch_moveit [default: false]
      • launch_imagesift [default: false]
      • launch_facedetection [default: false]
      • launch_mjpeg_server [default: false]
      • launch_gripper_sensor [default: true]
      • launch_virtual_force [default: true]
      • launch_safety_warning [default: true]
      • launch_tablet [default: false]
      • launch_jsk_pcl [default: false]
      • launch_db [default: true]
      • launch_microphone [default: true]
      • launch_teleoperation [default: false]
      • launch_people_detection [default: false]
      • launch_look_forward [default: true]
      • launch_twitter [default: true]
      • launch_visualize_log [default: false]
      • launch_reset_motors [default: true]
      • slow_camera_framerate [default: true]
      • launch_c3_startup [default: false]
      • use_map_keepout [default: true] — whether to use keepout map or not for navigation (default: true)
      • launch_dialogflow_task_executive [default: true] — whether launch dialogflow_task_executive or not.
      • launch_gdrive_server_c1 [default: true] — whether launch gdrive_server on c1 or not.
      • launch_gdrive_server_c2 [default: true] — whether launch gdrive_server on c2 or not.
      • USER_NAME [default: false]
  • jsk_pr2_image_transport/pr2_all_viewer.launch
      • RESIZE_RATE [default: 0.1]
      • SNAP_RESIZE_RATE [default: 0.25]
      • COMPRESS_TYPE [default: compressed]
      • USE_EDGE [default: true]
  • jsk_pr2_image_transport/pr2_roi_viewer.launch
      • RESIZE_RATE [default: 0.1]
      • IMAGE_TYPE [default: image_rect_throttle]
      • COMPRESS_TYPE [default: compressed]
  • jsk_pr2_image_transport/pr2_image_transport.launch
      • USE_SNAPSHOT [default: true]
      • USE_THROTTLE [default: true]
      • USE_MJPEGSERVER [default: false]
      • USE_ROTATED [default: true]
      • USE_EDGE [default: true]
      • THROTTLE_RATE [default: 1.4]
      • THROTTLE_RESIZE_RATE [default: 0.1]
      • THROTTLE_IMAGE_TYPE [default: image_rect]
      • THROTTLE_USE_MESSAGES [default: true]
      • THROTTLE_PERIOD [default: 3]
      • SNAPSHOT_RESIZE_RATE [default: 0.25]
      • SNAPSHOT_IMAGE_TYPE [default: image_rect]
      • MJPEGSERVER_PORT [default: 8181]
      • GAZEBO_MODE [default: false]
      • LAUNCH_MANAGER [default: true]
      • IMAGE_NODELET_MANAGER [default: image_transport_nodelet_manager]
      • GDB [default: false]
      • CAMERA [default: kinect_head]
  • jsk_pr2_image_transport/pr2_screenpoint.launch
      • USE_STEREO [default: false]
      • CAMERA [default: /multisense_sl/camera/left]
      • POINTS_TOPIC [default: /laser/full_cloud2_raw]
      • USE_VIEW [default: true]
  • jsk_pr2_image_transport/pr2_roi_transport.launch
      • CREATE_MANAGER [default: true]
      • MANAGER_NAME [default: roi_image_proc_manager]
      • DECIMATE_CAMERA [default: /kinect_head/rgb]
      • DECIMATE_IMAGE [default: image_rect_mono]
      • DECIMATE_OUTPUT_CAMERA [default: roi_camera_output]
  • pr2_gazebo.launch
      • launch_gazebo [default: true]
      • gui [default: true]
      • paused [default: true]
      • world [default: worlds/empty.world]
      • relay [default: true]
      • relay_c2 [default: true]
      • rectify_kinect [default: true]
      • num_worker_threads [default: 4]
      • launch_pr2 [default: true]
      • map_frame [default: eng2]
      • launch_map [default: true]
      • INITIAL_POSE_X [default: 0.0]
      • INITIAL_POSE_Y [default: 0.0]
      • INITIAL_POSE_Z [default: 0.0]
      • INITIAL_POSE_ROLL [default: 0.0]
      • INITIAL_POSE_PITCH [default: 0.0]
      • INITIAL_POSE_YAW [default: 0.0]
  • jsk_pr2_rocon/cameraman_sample/cameraman_pr1040_rocon.launch
  • jsk_pr2_rocon/cameraman_sample/cameraman_pr1012_rocon.launch
  • jsk_pr2_rocon/look_sample/look_pr1040_rocon.launch
  • jsk_pr2_rocon/look_sample/look_pr1012_rocon.launch
  • jsk_pr2_rocon/pr2s_rocon_common/pr2s_common_rocon.launch
      • hub_host [default: pr1040.jsk.imi.i.u-tokyo.ac.jp]
      • hub_port [default: 6380]
      • hub_uri [default: http://$(arg hub_host):$(arg hub_port)]
      • gateway_name [default: jsk_pr1012_]
      • config_path [default: ]
  • jsk_pr2_rocon/pr2s_rocon_common/pr1040_rocon.launch
      • config_path [default: ]
      • hub_host [default: pr1040.jsk.imi.i.u-tokyo.ac.jp]
      • hub_port [default: 6380]
      • hub_uri [default: http://$(arg hub_host):$(arg hub_port)]
  • jsk_pr2_rocon/pr2s_rocon_common/pr1012_rocon.launch
      • config_path [default: ]
  • jsk_pr2_rocon/chatter_sample/chatter_pr1012_rocon.launch
  • jsk_pr2_rocon/chatter_sample/chatter_pr1040_rocon.launch
  • rviz.launch
  • jsk_pr2_sensors/lasers_and_filters.xml
    • Copied from pr2_navigation_perception/laser_and_filters.xml
      • use_tilt_laser [default: true]
      • use_base_laser [default: true]
      • gazebo [default: false]
  • jsk_pr2_move_base/amcl_node.xml
    • This file is originally pr2_navigation_global/amcl_node.xml
  • jsk_pr2_move_base/safe_teleop.xml
  • jsk_pr2_move_base/move_base.xml
    • original : pr2_navigation_global/move_base.xml (electric)
      • use_teb_local_planner [default: false]
      • use_map_keepout [default: false]
  • jsk_pr2_move_base/ground_plane.xml
  • apps/hello_world/hello_world.xml
  • apps/tweet/tweet.xml

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged jsk_pr2_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 2021-10-19
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

jsk_pr2_startup

Additional Links

Maintainers

  • Kei Okada
  • Yuki Furuta

Authors

No additional authors.

jsk_pr2_startup

setup

. rewrite /etc/ros/robot.launch

Please rewrite /etc/ros/robot.launch like following:

<launch>

    <!-- Robot Description --> <param name="robot_description" textfile="/etc/ros/groovy/urdf/robot.xml" />

    <!-- Robot Analyzer --> <rosparam command="load" file="$(find pr2_bringup)/config/pr2_analyzers.yaml" ns="diag_agg" />

    <!-- Robot bringup --> 
    <include file="$(find jsk_pr2_startup)/pr2_bringup.launch" />
    <!-- <group> -->
    <!--   <remap from="/joy" to="/joy_org"/> -->
    <!--   <include file="$(find pr2_bringup)/pr2.launch" /> -->
    <!-- </group> -->

    <!-- Web ui --> <!-- include file="$(find webui)/webui.launch" /> -->

    <!-- Android app --> <include file="$(find local_app_manager)/app_manager.launch" >
      <arg name="ROBOT_NAME" value="pr1012" />
      <arg name="ROBOT_TYPE" value="pr2" />
    </include>

    <!-- RobotWebTools --> <include file="$(find rwt_image_view)/launch/rwt_image_view.launch"/>

    <!-- kinect -->
    <include file="$(find jsk_pr2_startup)/jsk_pr2_sensors/kinect_head.launch">
      <arg name="respawn" value="false" />
    </include>
    <rosparam file="/etc/ros/robot.yaml"/>
</launch> 


launch mongodb for multiple users

Different users in same unix group can't run mongod against single db owned by that group. This is because mongod opens database files using the O_NOATIME flag to the open system call. Open with O_NOATIME only works if the UID completelly matchs or the caller is priviledged (CAP_FOWNER) for security reasons. So if you want to launch mongodb with shared database resouces, it's better to use POSIX Capabilities in Linux.

# In Ubuntu
$ sudo aptitude install libcap2-bin
$ sudo setcap cap_fowner+ep /usr/bin/mongod

Hark with Microcone

documentation

CHANGELOG

Changelog for package jsk_pr2_startup

1.1.0 (2017-07-16)

  • Enable safe teleop for fetch (#801)
    • [jsk_fetch_startup] move unsafe_warning.l to jsk_robot_startup / enable unsafe_warning on fetch
    • [jsk_pr2_startup] move mux_selector.py to jsk_robot_startup
  • [jsk_pr2_startup][pr2.launch] update voice_text launch (#796)
  • [jsk_pr2_startup] fix: pr2 move_base local cost map does not work on gazebo (#736)
  • [jsk_pr2_startup] fix: init pose parameter typo for gazebo (#753)
    • [jsk_pr2_startup] fix param for initialpose_publisher.l
  • [jsk_pr2_startup] IAI kitchen gazebo startup launch (#695 )
    • [jsk_pr2_startup] add iai_kitchen gazebo startup launch
    • [jsk_pr2_startup/pr2.launch] add launch_map option
  • Contributors: Kei Okada, Yuki Furuta

1.0.9 (2016-11-09)

  • Update jsk_pr2.rosinstall
  • Contributors: Kentaro Wada

1.0.8 (2016-11-08)

1.0.7 (2016-11-02)

  • [jsk_pr2_startup/pr2_gazebo.launch] add default environment variables for launching pr2 gazebo
  • [jsk_robot_startup] move initialpose_publisher.l from jsk_pr2_startup/jsk_pr2_move_base
  • [jsk_robot_lifelog] move logging program from jsk_pr2_startup/jsk_pr2_lifelog to jsk_robot_startup/lifelog
  • [jsk_pr2_startup] remove meta package from dependencies
  • [pr2_base_trajectory_action] remove dependency to pr2_controller_msgs
    • refactor codes
    • remove pr2 related packages from dependencies
    • use control_msgs/FollowJointTrajectoryAction
    • support feedback message
    • added test codes
    • some bugfixes of old codes
    • checked on real robot
    • update launch files
  • [jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_sensors/people_detection.launch] add remap rgb_ns -> rgb (#630)
  • Contributors: Yuki Furuta

1.0.6 (2016-06-17)

  • fix too long file name in deb build (#618)
    • fix too long file name in deb build
    • update maintainer names
  • Contributors: Kei Okada

1.0.5 (2016-04-18)

  • [jsk_pr2_startup/CMakeLists.txt] install launch files related gazebo
  • Merge pull request #577 from mmurooka/add-run-dependency [jsk_pr2_startup/package.xml] add run_dependency.
  • [jsk_pr2_startup/package.xml] add run_dependency.
  • [jsk_pr2_startup/jsk_pr2.rosinstall] update jsk_robot to 1.0.2 for applying the fix in #539
  • Contributors: Yuki Furuta, Kei Okada, Masaki Murooka

1.0.4 (2016-03-21)

1.0.3 (2016-03-05)

1.0.2 (2016-02-14)

  • [jsk_pr2_startup/jsk_pr2_lifelog/objectdetection_db.py] unsubscribe objectdetection topics which has no other subscribers
  • [jsk_pr2_startup/jsk_pr2_move_base/costmap_common_params.yaml] fix: initial inflation range
  • [jsk_pr2_startup/jsk_pr2_lifelog] add limit for querying lifelog related documents
  • [jsk_pr2_startup/package.xml] add eusurdf to run_depend ref: https://github.com/jsk-ros-pkg/jsk_robot/issues/512
  • [jsk_pr2_startup/jsk_pr2_sensors/check_openni_node.py] refactor check_openni_node.py
  • [jsk_pr2_startup/jsk_pr2_move_base] remove nice +10 of move_base_node
  • [jsk_pr2_startup/jsk_pr2_move_base] increase update frequency to 10.0 Hz
  • [jsk_pr2_startup/pr2_gazebo.launch] change gripper stall_velocity_threshold param to avoid stuck on move-gripper :wait t
  • [jsk_pr2_startup/pr2_gazebo.launch] add relay to /kinect_head_c2/depth_registered/points_throttle
  • [jsk_pr2_startup/jsk_pr2_move_base/initialpose_publisher.l] add initialpose_publisher.l
  • [jsk_pr2_startup/sample/pr2_gazebo_73b2|610.launch] add initial pose args
  • [jsk_pr2_startup/pr2_gazebo.launch] fix: disable launch only for real robot; avoid check_cable
  • [jsk_pr2_startup/package.xml] add missing run dependencies
  • [jsk_pr2_startup/jsk_pr2_move_base] split global_costmap_params for avoiding segfault
  • [jsk_pr2_startup] Divide hand / base Tracking in Each Node for cameraman rocon
  • Merge branch \'add-rocon\' of github.com:aginika/jsk_robot into add-rocon
  • add rocon launch/configs
  • add rocon launch/configs
  • update .rosinstall for pr2 demos
  • Contributors: Yuki Furuta, Yuto Inagaki

1.0.1 (2015-11-19)

  • Record battery info before pwer go off #474
  • Contributors: Chi Wun Au

1.0.0 (2015-11-06)

0.0.13 (2015-11-06)

0.0.12 (2015-11-06)

  • support mongodb-based life-log
    • [db_client] add machine option for mongodb client
    • [jsk_pr2_startup/jsk_pr2_lifelog/action_result_db.py] fix: ignore useless type subscription
    • [jsk_pr2_startup/pr2_bringup.launch] use replication dump temp path on /removable instead of /tmp
    • [jsk_pr2_startup] add db client params and map_frame in pr2.launch
    • [jsk_pr2_startup/jsk_pr2_lifelog/db_client.launch] add result of face recognition data for recording to db
    • [jsk_pr2_startup/jsk_pr2_lifelog/db_client.launch] fix excluding topics for db record
    • [jsk_pr2_startup/jsk_pr2_lifelog/objectdetection_db.py] store NOT \'_agg\' topics instead of \'_agg\' for support applications that publish msgs without \"_agg\" topic
    • [jsk_pr2_startup/jsk_pr2_lifelog/action_result_db_config.yaml] remove gripper action from black_list
    • [jsk_pr2_startup/jsk_pr2_lifelog/visualization] add visualization nodes for database
    • [jsk_pr2_startup/jsk_pr2_lifelog/mongodb_log.py] fix mongodb_log.py to support logging with jsk name convention
    • [jsk_pr2_startup/jsk_pr2_lifelog/pr2-tweet-log.l] add twitter node for logging
  • Sounds
    • [jsk_pr2_startup] remap sound_play nodes to robotsound
    • [jsk_pr2_startup/pr2_hark] fix issue https://github.com/jsk-ros-pkg/jsk_robot/issues/359
      • Update Transfer function data for Hark >2.1
      • Update batch files for new transfer function data
      • support stand-alone launch of pr2_hark.launch
      • Update README
  • Misc updates
    • [jsk_pr2_startup] Wording in plugin description
    • [jsk_pr2_startup] modify typo in jsk_pr2.rosinstall
    • [jsk_pr2_startup] add some args to pr2.launch
    • [.rosinstall] fix face_recognition to upstream
    • [jsk_pr2_startup] add face_recognition
    • [jsk_pr2_startup] update global costmap params
    • [jsk_pr2_startup] change the order of local costmap plugin
    • [jsk_pr2_startup] add pr2_gazebo_610.launch as sample
  • Contributors: Yuki Furuta, Isaac IY Saito, Yuto Inagaki

0.0.11 (2015-09-01)

0.0.10 (2015-08-16)

  • [jsk_pr2_startup] logging images/pointclouds/tf/jointstates/people
  • [jsk_pr2_startup] enable logging pr2_gripper_action
  • [jsk_pr2_startup] add pr2 heightmap sample launch
  • [jsk_pr2_startup/package.xml] add missing deps for pr2
  • [jsk_pr2_startup/pr2_gazebo.launch] use relay/republish instead of rgbd_launch for creating rectified images
  • [jsk_pr2_startup/package.xml] add social_navigation_layers to run_depends
  • [jsk_robot_startup] use param \"robot/name\" [jsk_pr2_startup] use daemon mongod
  • Revert \"[jsk_robot] unified database\"
  • [jsk_pr2_startup/jsk_pr2.rosinstall] add temporal missing package mongodb_store
  • Contributors: Yuki Furuta, Yuto Inagaki

0.0.9 (2015-08-03)

  • [jsk_pr2_startup] add 73b2 sample launch file
  • [jsk_pr2_startup/people_detection.launch] add people tracker
  • [jsk_pr2_startup] add rosinstall for jsk pr2
  • [jsk_robot] use common database jsk_robot_lifelog, with identify with collection name ROBOT_NAME
  • [jsk_pr2_startup/pr2_bringup.launch] use daemon mode mongod for pr2
  • change openni namespace to kinect_head
  • [jsk_pr2_startup/pr2_gazebo.launch] add initial pose of pr2 in gazebo
  • [jsk_pr2_startup] fix typo in pr2.launch
  • Contributors: Yuki Furuta, Yuto Inagaki, Chi Wun Aau, Hitoshi Kamada

0.0.8 (2015-07-16)

  • [jsk_pr2_startup] add option map_frame to change eng2/eng8
  • [jsk_pr2_startup/pr2_gazebo.launch] include rgbd_launch to rectify kinect rgb image
  • [jsk_pr2_startup] add pr2_gazebo.launch
  • [jsk_pr2_startup] use env ROBOT for including machine tags
  • [jsk_pr2_startup/jsk_pr2_sensors/kinect_head.launch] add deprecated relay for openni_c2 rgb, depth, depth_registered topics
  • [jsk_pr2_startup] use kinect_head(_c2) instead of openni(_c2) following pr2 default naming
  • [jsk_pr2_startup/jsk_pr2_move_base] fix topic name /base_scan_filtered -> base_scan
  • [jsk_pr2_startup/jsk_pr2_move_base] split name space along with modules; use hydro-based costmap params
  • [jsk_pr2_startup/jsk_pr2_move_base] enable clear params option to move_base_node; increase nice value
  • [jsk_pr2_start_up] set ROBOT=pr2 in rossetpr10XX
  • Contributors: Kentaro Wada, Yuki Furuta

0.0.7 (2015-06-11)

  • solve not updating problem after recharge
  • speak the percentage of the battery with min charge
  • [jsk_pr2_startup] warn more detail batrery information
  • Contributors: Yuki Furuta, Chi Wun Au

0.0.6 (2015-04-10)

0.0.5 (2015-04-08)

  • [jsk_pr2_startup] Add rossetpr1012 and rossetpr1040 automatically by env-hooks
  • add deps jsk_interactive_marker for jsk_pr2_startup
  • add pr2 deps package for build test
  • use only catkin; add deps for running pr2.launch
  • add dwa_local_planner to build/run dependencies
  • add move_base_msgs, roseus to build dependencies
  • update readme for launching mongodb by multi users
  • [jsk_pr2_startup] Remove collider related roslaunch
  • launch mongodb when robot starts
  • add action_result_db to record action result/goal and joint_states
  • add tilt_scan_interpolated topic
  • add openni_cloud_self_filter to launch as default and publish color pointclouds
  • tested objectdetection for all camera on PR2
  • tested on PR2
  • fix option of db_client launch
  • add debug message to objectdetection_db.py
  • [jsk_pr2_robot] Use jsk_network_tools\' euslisp code to compress/decompress joint angles
  • migrate pr2 move_base, objectdetection db from postgre to mongodb
  • Contributors: Ryohei Ueda, Yuki Furuta, Yuto Inagaki

0.0.4 (2015-01-30)

  • [jsk_pr2_startup] Remove unrequired return-from in pr2-compressed-angle-vector-interface
  • rename pr2-compressed-angle-vector-interface.l
  • use string to set data
  • fix typo
  • update to work
  • add jsk_pr2_teleop

0.0.3 (2015-01-09)

0.0.2 (2015-01-08)

  • add install commands to cmake
  • [jsk_pr2_startup] Disable collider node, it\'s out of date
  • Merge pull request #232 from garaemon/rename-hydro-recognition [jsk_pr2_startup] rename hydro_recognition.launch to people_detection.launch and start it up default
  • [jsk_pr2_startup] Remove torso_lift_link from self filtering of tilt laser to avoid too much filtering of points. And update padding of shoulder links to remove veiling noise
  • [jsk_pr2_startup] rename hydro_recognition.launch to people_detection.launch and start it up in default.
  • Merge pull request #230 from garaemon/move-image-processing-to-c2 [jsk_pr2_startup] Move several image processing to c2 to avoid heavy network communication between c1 and c2
  • [jsk_pr2_startup] Move several image processing to c2 to avoid heavy network communication between c1 and c2
  • [jsk_pr2_startup] Throttle before applying image_view2 to decrease CPU load
  • use robot-actions.l
  • Fix parameter namespace to slow down pr2_gripper_sensor_action
  • Use longer priod to check openni soundness
  • use rostwitter and python_twoauth
  • Contributors: Kei Okada, Ryohei Ueda, Yusuke Furuta

0.0.1 (2014-12-25)

  • Restarting kinect paranoiac 1) usb reset 2) kill nodelet manager 3) kill child processing 4) restart openni.launch (hardcoded!)
  • Add rviz_mouse_point_to_tablet.py to pr2.launch
  • Use larger value to detect gound object by PR2 to avoid small noises
  • Add sound when launching pr2.launch
  • kill nodelet manager and processes rather than killing openni/driver
  • Say something at the end of pr2.launch
  • Use low framerate for gripper sensors to avoid high load
  • move twitter related program to robot_common from jsk_pr2_startup
  • modify launch file for gazebo
  • add yaml file for gazebo
  • delete LaserScanIntensityFilter
  • modify sensors_kinect and add sensors
  • move pr2 related package under jsk_pr2_robot
  • Contributors: Ryohei Ueda, Yuto Inagaki, Yusuke Furuta

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • sample/pr2_heightmap.launch
      • input_cloud [default: /tilt_scan_shadow_filtered]
      • DEBUG_VIEW [default: false]
  • sample/pr2_gazebo_73b2.launch
      • INITIAL_POSE_X [default: 1.0]
      • INITIAL_POSE_Y [default: 0.0]
      • INITIAL_POSE_YAW [default: 0.0]
  • sample/pr2_gazebo_610.launch
      • INITIAL_POSE_X [default: 1.0]
      • INITIAL_POSE_Y [default: 0.0]
      • INITIAL_POSE_YAW [default: 0.0]
  • jsk_pr2_sensors/kinect_head_self_filter.launch
      • ROBOT [default: $(optenv ROBOT sim)]
      • machine [default: c2]
      • respawn [default: true]
      • camera [default: kinect_head]
  • jsk_pr2_sensors/tablet_startup.launch
  • jsk_pr2_sensors/pr2_teleop_robot.launch
      • launch_tf_buffer [default: true]
      • launch_image_resized [default: true]
      • launch_image_roi [default: true]
      • launch_interactive_controller [default: true]
      • tf_update_rate [default: 1.0]
  • jsk_pr2_sensors/camera_framerate.launch
      • framerate [default: 3.0]
  • jsk_pr2_sensors/people_detection.launch
      • face_detect [default: true]
      • leg_detect [default: true]
      • publish_people [default: true]
      • camera [default: kinect_head]
      • image_topic [default: image_rect_color]
      • depth_topic [default: image_raw]
      • fixed_frame [default: kinect_head_rgb_optical_frame]
      • depth_ns [default: depth_registered]
  • jsk_pr2_sensors/kinect_head_c2.launch
    • Originated from /opt/ros/indigo/share/openni_launch/launch/openni.launch
      • camera [default: kinect_head]
      • deprecated_relay [default: false]
      • manager [default: kinect_head_c2_nodelet_manager]
      • debug [default: false]
      • rgb_frame_id [default: $(arg camera)_rgb_optical_frame]
      • depth_frame_id [default: $(arg camera)_ir_optical_frame]
      • device_id [default: #1]
      • rgb_camera_info_url [default: ]
      • depth_camera_info_url [default: ]
      • depth_registration [default: true]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth [default: depth]
      • depth_registered [default: depth_registered]
      • depth_registered_filtered [default: depth_registered]
      • projector [default: projector]
      • load_driver [default: false]
      • publish_tf [default: false]
      • rgb_processing [default: true]
      • ir_processing [default: true]
      • depth_processing [default: true]
      • depth_registered_processing [default: true]
      • disparity_processing [default: true]
      • disparity_registered_processing [default: true]
      • hw_registered_processing [default: true]
      • sw_registered_processing [default: true]
      • bond [default: false]
      • respawn [default: $(arg bond)]
      • num_worker_threads [default: 4]
  • jsk_pr2_sensors/openni_tracker.launch
  • jsk_pr2_sensors/pr2_teleop_remote.launch
      • REMOTE_TF [default: /tf_low_frequency]
      • launch_tf_buffer [default: true]
      • launch_pcl_roi [default: true]
      • launch_image_resized [default: true]
      • launch_image_roi [default: true]
      • launch_interactive_controller [default: true]
  • jsk_pr2_sensors/kinect_head.launch
      • load_driver [default: true] — launch driver set to false on gazebo
      • respawn [default: true]
      • use_c2 [default: true] — Launch nodes for registration on C2
      • deprecated_relay [default: true] — advertise to deprecated kinect_head_c2 ns
      • camera [default: kinect_head]
      • num_worker_threads [default: 8]
      • monitor_driver [default: false]
      • throttle_rgb [default: true]
      • throttle_depth [default: true]
      • throttle_cloud [default: true]
      • throttle_rate [default: 5.0]
      • manager [default: kinect_head_nodelet_manager]
      • manager [default: kinect_head_c2_nodelet_manager]
      • registration_c1 [default: true]
      • registration_c1 [default: false]
      • machine [default: c1]
      • machine [default: c2]
  • jsk_pr2_sensors/pr2_remote_startup.launch
      • MACHINE [default: localhost]
      • launch_openni [default: true]
      • launch_battery [default: false]
  • jsk_pr2_lifelog/rosbag_play.launch
      • rosbag
      • manager [default: rosbag_play_nodelet_manager]
      • launch_nodelet_manager [default: true]
      • loop [default: true]
      • gui [default: false]
  • jsk_pr2_lifelog/pr2_gdrive_server.launch
      • machine [default: localhost]
      • settings_yaml [default: $(optenv GOOGLE_DRIVE_SETTINGS_YAML /var/lib/robot/pydrive_settings.yaml)]
      • respawn [default: false]
      • node_name [default: gdrive_server]
  • jsk_pr2_lifelog/pr2_tweet.launch
  • jsk_pr2_lifelog/rosbag_record.launch
      • rosbag — rosbag file path
      • compress [default: false] — whether compress rosbag or not.
  • jsk_pr2_lifelog/visualization/pr2_log_visualization.launch
      • ROBOT [default: $(env ROBOT)]
  • jsk_pr2_lifelog/active_user_diag.launch
  • jsk_pr2_lifelog/db_client.launch
      • ROBOT [default: $(env ROBOT)]
      • map_frame [default: eng2]
      • visualize_log [default: false]
      • twitter [default: true]
      • machine [default: c2]
      • output [default: screen]
  • jsk_pr2_lifelog/pr2_microphone.launch
      • use_microcone [default: false]
      • use_respeaker [default: true]
      • language [default: ja-JP]
      • machine [default: c1]
      • machine [default: c2]
      • ROBOT [default: $(optenv ROBOT pr2)]
  • jsk_pr2_moveit/start_pr2_moveit.launch
      • USE_LASER_AND_KINECT [default: true]
      • USE_LASER [default: false]
      • USE_KINECT [default: false]
  • jsk_pr2_moveit/demo.launch
  • jsk_pr2_moveit/start_pr2_moveit_remote.launch
      • USE_LASER_AND_KINECT [default: false]
      • USE_LASER [default: false]
      • USE_KINECT [default: true]
  • jsk_pr2_perception/mask_rcnn.launch
      • GPU [default: 0]
      • IMAGE_COLOR [default: /kinect_head/rgb/image_rect_color]
      • POINTS [default: /kinect_head/depth_registered/points]
  • jsk_pr2_perception/openpose.launch
      • GPU [default: 0]
      • IMAGE_DEPTH [default: /kinect_head/depth_registered/image_rect]
      • IMAGE_COLOR [default: /kinect_head/rgb/image_rect_color]
      • CAMERA_INFO [default: /kinect_head/depth_registered/camera_info]
  • jsk_pr2_perception/pr2_perception.launch
      • GPU [default: 0]
      • CAMERA_INFO [default: /kinect_head/depth_registered/camera_info]
      • IMAGE_DEPTH [default: /kinect_head/depth_registered/image_rect]
      • IMAGE_COLOR [default: /kinect_head/rgb/image_rect_color]
      • DECOMP_CAMERA_INFO [default: /kinect_head_decompressed/depth_registered/camera_info]
      • DECOMP_RGB_CAMERA_INFO [default: /kinect_head_decompressed/rgb/camera_info]
      • DECOMP_IMAGE_DEPTH [default: /kinect_head_decompressed/depth_registered/image_rect]
      • DECOMP_IMAGE_COLOR [default: /kinect_head_decompressed/rgb/image_rect_color]
      • DECOMP_POINTS [default: /kinect_head_decompressed/depth_registered/points]
  • pr2_bringup.launch
      • launch_stereo_camera [default: true]
      • launch_runtime_logger [default: false]
      • launch_hd_monitor [default: true]
      • launch_ntp_monitor [default: true]
      • launch_wifi_ddwrt [default: false]
      • launch_network_detector [default: true]
      • launch_sound_play [default: true]
      • launch_network_status [default: true]
      • launch_audio_play [default: true]
      • launch_app_manager [default: true]
      • setup_mannequin_mode [default: true] — prepares mannequin_mode to be callable by EusLisp interface
      • no-prosilica [default: false]
  • jsk_pr2_joy/image_snapshot_joy.launch
      • JOY_CONFIG [default: $(find jsk_teleop_joy)/configs/padkontrol.yaml]
      • HEAD_PUB_BUTTON [default: 0]
      • LHAND_PUB_BUTTON [default: 1]
      • RHAND_PUB_BUTTON [default: 2]
  • jsk_pr2_move_base/pr2_teleop_general_joystick.launch
  • jsk_pr2_move_base/pr2_2dnav.launch
    • This file is originally pr2_2dnav/pr2_2dnav.launch
      • gazebo [default: false]
      • launch_look_forward [default: true]
      • launch_teleop_joystick [default: true]
      • launch_navigation [default: true]
      • use_map_keepout [default: false]
  • pr2_jsk_interactive.launch
  • pr2.launch
      • map_frame [default: eng2]
      • launch_map [default: true]
      • launch_kinect [default: true]
      • launch_move_base [default: true]
      • launch_moveit [default: false]
      • launch_imagesift [default: false]
      • launch_facedetection [default: false]
      • launch_mjpeg_server [default: false]
      • launch_gripper_sensor [default: true]
      • launch_virtual_force [default: true]
      • launch_safety_warning [default: true]
      • launch_tablet [default: false]
      • launch_jsk_pcl [default: false]
      • launch_db [default: true]
      • launch_microphone [default: true]
      • launch_teleoperation [default: false]
      • launch_people_detection [default: false]
      • launch_look_forward [default: true]
      • launch_twitter [default: true]
      • launch_visualize_log [default: false]
      • launch_reset_motors [default: true]
      • slow_camera_framerate [default: true]
      • launch_c3_startup [default: false]
      • use_map_keepout [default: true] — whether to use keepout map or not for navigation (default: true)
      • launch_dialogflow_task_executive [default: true] — whether launch dialogflow_task_executive or not.
      • launch_gdrive_server_c1 [default: true] — whether launch gdrive_server on c1 or not.
      • launch_gdrive_server_c2 [default: true] — whether launch gdrive_server on c2 or not.
      • USER_NAME [default: false]
  • jsk_pr2_image_transport/pr2_all_viewer.launch
      • RESIZE_RATE [default: 0.1]
      • SNAP_RESIZE_RATE [default: 0.25]
      • COMPRESS_TYPE [default: compressed]
      • USE_EDGE [default: true]
  • jsk_pr2_image_transport/pr2_roi_viewer.launch
      • RESIZE_RATE [default: 0.1]
      • IMAGE_TYPE [default: image_rect_throttle]
      • COMPRESS_TYPE [default: compressed]
  • jsk_pr2_image_transport/pr2_image_transport.launch
      • USE_SNAPSHOT [default: true]
      • USE_THROTTLE [default: true]
      • USE_MJPEGSERVER [default: false]
      • USE_ROTATED [default: true]
      • USE_EDGE [default: true]
      • THROTTLE_RATE [default: 1.4]
      • THROTTLE_RESIZE_RATE [default: 0.1]
      • THROTTLE_IMAGE_TYPE [default: image_rect]
      • THROTTLE_USE_MESSAGES [default: true]
      • THROTTLE_PERIOD [default: 3]
      • SNAPSHOT_RESIZE_RATE [default: 0.25]
      • SNAPSHOT_IMAGE_TYPE [default: image_rect]
      • MJPEGSERVER_PORT [default: 8181]
      • GAZEBO_MODE [default: false]
      • LAUNCH_MANAGER [default: true]
      • IMAGE_NODELET_MANAGER [default: image_transport_nodelet_manager]
      • GDB [default: false]
      • CAMERA [default: kinect_head]
  • jsk_pr2_image_transport/pr2_screenpoint.launch
      • USE_STEREO [default: false]
      • CAMERA [default: /multisense_sl/camera/left]
      • POINTS_TOPIC [default: /laser/full_cloud2_raw]
      • USE_VIEW [default: true]
  • jsk_pr2_image_transport/pr2_roi_transport.launch
      • CREATE_MANAGER [default: true]
      • MANAGER_NAME [default: roi_image_proc_manager]
      • DECIMATE_CAMERA [default: /kinect_head/rgb]
      • DECIMATE_IMAGE [default: image_rect_mono]
      • DECIMATE_OUTPUT_CAMERA [default: roi_camera_output]
  • pr2_gazebo.launch
      • launch_gazebo [default: true]
      • gui [default: true]
      • paused [default: true]
      • world [default: worlds/empty.world]
      • relay [default: true]
      • relay_c2 [default: true]
      • rectify_kinect [default: true]
      • num_worker_threads [default: 4]
      • launch_pr2 [default: true]
      • map_frame [default: eng2]
      • launch_map [default: true]
      • INITIAL_POSE_X [default: 0.0]
      • INITIAL_POSE_Y [default: 0.0]
      • INITIAL_POSE_Z [default: 0.0]
      • INITIAL_POSE_ROLL [default: 0.0]
      • INITIAL_POSE_PITCH [default: 0.0]
      • INITIAL_POSE_YAW [default: 0.0]
  • jsk_pr2_rocon/cameraman_sample/cameraman_pr1040_rocon.launch
  • jsk_pr2_rocon/cameraman_sample/cameraman_pr1012_rocon.launch
  • jsk_pr2_rocon/look_sample/look_pr1040_rocon.launch
  • jsk_pr2_rocon/look_sample/look_pr1012_rocon.launch
  • jsk_pr2_rocon/pr2s_rocon_common/pr2s_common_rocon.launch
      • hub_host [default: pr1040.jsk.imi.i.u-tokyo.ac.jp]
      • hub_port [default: 6380]
      • hub_uri [default: http://$(arg hub_host):$(arg hub_port)]
      • gateway_name [default: jsk_pr1012_]
      • config_path [default: ]
  • jsk_pr2_rocon/pr2s_rocon_common/pr1040_rocon.launch
      • config_path [default: ]
      • hub_host [default: pr1040.jsk.imi.i.u-tokyo.ac.jp]
      • hub_port [default: 6380]
      • hub_uri [default: http://$(arg hub_host):$(arg hub_port)]
  • jsk_pr2_rocon/pr2s_rocon_common/pr1012_rocon.launch
      • config_path [default: ]
  • jsk_pr2_rocon/chatter_sample/chatter_pr1012_rocon.launch
  • jsk_pr2_rocon/chatter_sample/chatter_pr1040_rocon.launch
  • rviz.launch
  • jsk_pr2_sensors/lasers_and_filters.xml
    • Copied from pr2_navigation_perception/laser_and_filters.xml
      • use_tilt_laser [default: true]
      • use_base_laser [default: true]
      • gazebo [default: false]
  • jsk_pr2_move_base/amcl_node.xml
    • This file is originally pr2_navigation_global/amcl_node.xml
  • jsk_pr2_move_base/safe_teleop.xml
  • jsk_pr2_move_base/move_base.xml
    • original : pr2_navigation_global/move_base.xml (electric)
      • use_teb_local_planner [default: false]
      • use_map_keepout [default: false]
  • jsk_pr2_move_base/ground_plane.xml
  • apps/hello_world/hello_world.xml
  • apps/tweet/tweet.xml

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Plugins

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