No version for distro crystal. Known supported distros are highlighted in the buttons above.

No version for distro bouncy. Known supported distros are highlighted in the buttons above.

No version for distro melodic. Known supported distros are highlighted in the buttons above.

No version for distro lunar. Known supported distros are highlighted in the buttons above.

No version for distro kinetic. Known supported distros are highlighted in the buttons above.

jsk_fetch_startup package from jsk_robot repo

aeroeus jsk_aero_startup baxtereus jsk_baxter_desktop jsk_baxter_startup jsk_baxter_web fetcheus jsk_fetch_startup jsk_201504_miraikan jsk_nao_startup jsk_pepper_startup nao_jsk_teleop naoeus naoqieus peppereus jsk_pr2_accessories jsk_pr2_calibration jsk_pr2_desktop jsk_pr2_startup pr2_base_trajectory_action jsk_robot jsk_robot_startup jsk_robot_utils roseus_remote

API Docs
Browse Code
Wiki

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	2019-05-23
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

Website

Maintainers

Kei Okada

Authors

No additional authors.

jsk_fetch_robot/jsk_fetch_startup/README.md

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.
- We sent PR to upstream fetchrobotics/fetch_robots PR#40.
2019/04/19: run /etc/ros/indigo/robot.launch with arg launch_teleop:=false.
- teleop in /etc/ros/indigo/robot.launch nodes were conflicted with teleop nodes in jsk_fetch_startup/launch/fetch_teleop.xml

Apps

Note

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

Add fetch to rwt_app_chooser

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

Execute demos

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

select_app

CHANGELOG

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	fetch_teleop
	1	catkin
	1	image_proc
	1	jsk_robot_startup
	1	jsk_maps
	1	fetcheus
	1	fetch_navigation
	1	fetch_moveit_config
	1	fetch_driver_msgs
	2	rviz
	2	tf2_ros
	1	voice_text
	2	amcl
	2	map_server
	2	move_base
	1	fetch_bringup
	1	safe_teleop_base
	2	joy
	2	topic_tools
	1	diagnostic_aggregator
	1	julius_ros
	1	respeaker_ros
	2	rostest

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Repo	Deps
jsk_robot	github-jsk-ros-pkg-jsk_robot

Launch files

launch/fetch_gazebo_bringup.launch
- - launch_gazebo [default: true]
  - launch_gui [default: true]
  - launch_moveit [default: true]
  - launch_move_base [default: true]
  - paused [default: false]
  - world [default: worlds/empty.world]
  - map_frame [default: eng2]
  - INITIAL_POSE_X [default: 0.0]
  - INITIAL_POSE_Y [default: 0.0]
  - INITIAL_POSE_Z [default: 0.0]
  - INITIAL_POSE_YAW [default: 0.0]
launch/fetch_bringup.launch
- - launch_moveit [default: true]
  - launch_teleop [default: true]
  - launch_move_base [default: true]
  - boot_sound [default: false]
  - map_frame [default: eng2]
  - map_file [default: $(find jsk_maps)/raw_maps/eng2-7f-0.05.yaml]
  - keepout_map_file [default: $(find jsk_maps)/raw_maps/eng2-7f-0.05_keepout.yaml]
launch/rviz.launch
launch/gazebo/fetch_gazebo_73b2.launch
- - INITIAL_POSE_X [default: 1.0]
  - INITIAL_POSE_Y [default: 0.0]
  - INITIAL_POSE_Z [default: 0.0]
  - INITIAL_POSE_YAW [default: 0.0]
launch/fetch_tweet.launch
- - image_topics [default: /head_camera/rgb/image_rect_color]
  - remap_odom_state [default: /odom_combined]
test/roslaunch-check-fetch_bringup.xml
apps/software_runstop/software_runstop.xml
apps/go_to_kitchen/go_to_kitchen.xml
apps/welcome_to_jsk/welcome_to_jsk.xml
apps/call_k_okada/call_k_okada.xml
apps/auto_dock/auto_dock.xml
apps/hello_world/hello_world.xml
apps/patrol/patrol.xml
launch/fetch_teleop.xml
- - enable_auto_dock [default: true]
  - joy_device [default: /dev/ps3joy]
  - launch_fetch_bringup_teleop [default: false]
launch/fetch_lifelog.xml
- - use_system_mongod [default: true]
  - map_frame [default: map]
  - vital_check [default: false]
launch/fetch_sensors.xml
- - throttled_rate [default: 5.0]
  - launch_manager [default: true]
  - throttle_head_rgb [default: true]
  - throttle_head_depth [default: true]
  - throttle_head_cloud [default: true]
  - throttle_base_scan [default: true]
  - manager [default: head_camera/head_camera_nodelet_manager]
  - manager [default: throttle_nodelet_manager]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `jsk_fetch_startup` at answers.ros.org

API Docs Browse Code Wiki

No version for distro ardent. Known supported distros are highlighted in the buttons above.

No version for distro jade. Known supported distros are highlighted in the buttons above.

jsk_fetch_startup package from jsk_robot repo

aeroeus jsk_aero_startup baxtereus jsk_baxter_desktop jsk_baxter_startup jsk_baxter_web fetcheus jsk_fetch_startup jsk_201504_miraikan jsk_nao_startup jsk_pepper_startup nao_jsk_teleop naoeus naoqieus peppereus jsk_pr2_accessories jsk_pr2_calibration jsk_pr2_desktop jsk_pr2_startup pr2_base_trajectory_action jsk_robot jsk_robot_startup jsk_robot_utils roseus_remote

API Docs
Browse Code
Wiki

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	2019-05-23
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

Website

Maintainers

Kei Okada

Authors

No additional authors.

jsk_fetch_robot/jsk_fetch_startup/README.md

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.
- We sent PR to upstream fetchrobotics/fetch_robots PR#40.
2019/04/19: run /etc/ros/indigo/robot.launch with arg launch_teleop:=false.
- teleop in /etc/ros/indigo/robot.launch nodes were conflicted with teleop nodes in jsk_fetch_startup/launch/fetch_teleop.xml

Apps

Note

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

Add fetch to rwt_app_chooser

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

Execute demos

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

select_app

CHANGELOG

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps		Name
	1	fetch_teleop
	1	catkin
	1	image_proc
	1	jsk_robot_startup
	1	jsk_maps
	1	fetcheus
	1	fetch_navigation
	1	fetch_moveit_config
	1	fetch_driver_msgs
	2	rviz
	2	tf2_ros
	1	voice_text
	2	amcl
	2	map_server
	2	move_base
	1	fetch_bringup
	1	safe_teleop_base
	2	joy
	2	topic_tools
	1	diagnostic_aggregator
	1	julius_ros
	1	respeaker_ros
	2	rostest

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Repo	Deps
jsk_robot	github-jsk-ros-pkg-jsk_robot

Launch files

launch/fetch_gazebo_bringup.launch
- - launch_gazebo [default: true]
  - launch_gui [default: true]
  - launch_moveit [default: true]
  - launch_move_base [default: true]
  - paused [default: false]
  - world [default: worlds/empty.world]
  - map_frame [default: eng2]
  - INITIAL_POSE_X [default: 0.0]
  - INITIAL_POSE_Y [default: 0.0]
  - INITIAL_POSE_Z [default: 0.0]
  - INITIAL_POSE_YAW [default: 0.0]
launch/fetch_bringup.launch
- - launch_moveit [default: true]
  - launch_teleop [default: true]
  - launch_move_base [default: true]
  - boot_sound [default: false]
  - map_frame [default: eng2]
  - map_file [default: $(find jsk_maps)/raw_maps/eng2-7f-0.05.yaml]
  - keepout_map_file [default: $(find jsk_maps)/raw_maps/eng2-7f-0.05_keepout.yaml]
launch/rviz.launch
launch/gazebo/fetch_gazebo_73b2.launch
- - INITIAL_POSE_X [default: 1.0]
  - INITIAL_POSE_Y [default: 0.0]
  - INITIAL_POSE_Z [default: 0.0]
  - INITIAL_POSE_YAW [default: 0.0]
launch/fetch_tweet.launch
- - image_topics [default: /head_camera/rgb/image_rect_color]
  - remap_odom_state [default: /odom_combined]
test/roslaunch-check-fetch_bringup.xml
apps/software_runstop/software_runstop.xml
apps/go_to_kitchen/go_to_kitchen.xml
apps/welcome_to_jsk/welcome_to_jsk.xml
apps/call_k_okada/call_k_okada.xml
apps/auto_dock/auto_dock.xml
apps/hello_world/hello_world.xml
apps/patrol/patrol.xml
launch/fetch_teleop.xml
- - enable_auto_dock [default: true]
  - joy_device [default: /dev/ps3joy]
  - launch_fetch_bringup_teleop [default: false]
launch/fetch_lifelog.xml
- - use_system_mongod [default: true]
  - map_frame [default: map]
  - vital_check [default: false]
launch/fetch_sensors.xml
- - throttled_rate [default: 5.0]
  - launch_manager [default: true]
  - throttle_head_rgb [default: true]
  - throttle_head_depth [default: true]
  - throttle_head_cloud [default: true]
  - throttle_base_scan [default: true]
  - manager [default: head_camera/head_camera_nodelet_manager]
  - manager [default: throttle_nodelet_manager]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `jsk_fetch_startup` at answers.ros.org

API Docs Browse Code Wiki

jsk_fetch_startup package from jsk_robot repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

jsk_fetch_startup

SetUp (Running following commands in the first time)

upstart

mongodb

Teleoperation

Maintenance

re-roslaunch jsk_fetch_startup fetch_bringup.launch

re-roslaunch fetch_bringup fetch.launch

Clock Synchronization

Network

General description

Case description

Access point

Network status log

Administration

Apps

Note

Add fetch to rwt_app_chooser

Execute demos

Wiki Tutorials

Source Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged jsk_fetch_startup at answers.ros.org

jsk_fetch_startup package from jsk_robot repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

jsk_fetch_startup

SetUp (Running following commands in the first time)

upstart

mongodb

Teleoperation

Maintenance

re-roslaunch jsk_fetch_startup fetch_bringup.launch

re-roslaunch fetch_bringup fetch.launch

Clock Synchronization

Network

General description

Case description

Access point

Network status log

Administration

Apps

Note

Add fetch to rwt_app_chooser

Execute demos

Wiki Tutorials

Source Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged jsk_fetch_startup at answers.ros.org

Recent questions tagged `jsk_fetch_startup` at answers.ros.org

Recent questions tagged `jsk_fetch_startup` at answers.ros.org