From 1eefd6a5dd24e44acfbd1f9e2964220cfab47424 Mon Sep 17 00:00:00 2001 From: iory Date: Thu, 19 May 2022 22:31:48 +0900 Subject: [PATCH 1/7] [jsk_pr2_startup] Add audible warning and sanity diagnostics --- .../jsk_pr2_warning/sanity_targets.yaml | 4 ++++ jsk_pr2_robot/jsk_pr2_startup/pr2.launch | 21 +++++++++++++++++++ 2 files changed, 25 insertions(+) create mode 100644 jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/sanity_targets.yaml diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/sanity_targets.yaml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/sanity_targets.yaml new file mode 100644 index 0000000000..effacff7b8 --- /dev/null +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/sanity_targets.yaml @@ -0,0 +1,4 @@ +topics: + - /kinect_head/rgb/image_raw + - /kinect_head/depth_registered/image_raw + diff --git a/jsk_pr2_robot/jsk_pr2_startup/pr2.launch b/jsk_pr2_robot/jsk_pr2_startup/pr2.launch index cb418c2d2c..706bbe0464 100644 --- a/jsk_pr2_robot/jsk_pr2_startup/pr2.launch +++ b/jsk_pr2_robot/jsk_pr2_startup/pr2.launch @@ -195,4 +195,25 @@ + + + + run_stop_topic: /power_board/state + run_stop_condition: "m.run_stop is False" + seconds_to_start_speaking: 60 + speak_interval: 600 + + + + + + + duration: 60 + + + From 16815c0934fd3ba7eca461b464b34dfd2788159b Mon Sep 17 00:00:00 2001 From: iory Date: Fri, 20 May 2022 12:29:34 +0900 Subject: [PATCH 2/7] [jsk_pr2_startup/warning] Add warning_blacklist.yaml --- .../jsk_pr2_warning/warning_blacklist.yaml | 21 +++++++++++++++++++ 1 file changed, 21 insertions(+) create mode 100644 jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml new file mode 100644 index 0000000000..4be4199f81 --- /dev/null +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml @@ -0,0 +1,21 @@ +blacklist: + - name: "/Cameras/Forearm.*" + - name: "/Cameras/Narrow.*" + - name: "/Cameras/Prosilica" + - name: "/Cameras/Wide.*" + - name: "/Computers/CPU/c1 CPU Usage" + - name: "/Computers/CPU/c2 CPU Usage" + - name: "/Devices/Joystick/Joystick Driver Status" + - name: "/Devices/Sound" + - name: "/Other/Accelerometer.*" + - name: "/Other/NTP offset from" + - name: "/Other/Pressure sensors.*" + - name: "/Other/lifelog joint_states_logger: LightweightLogger:: lifelog joint_states_throttle output" + - name: "/Other/prosilica prosilica_nodelet_manager: prosilica prosilica_driver" + - name: "/Power System/.*" + - name: "/Motors/EtherCAT.*" + message: "Safety Lockout.*" + - name: "/Realtime Controllers/Controller.*" + - name: "/Computers/CPU/c\\d CPU Temperature" +run_stop_blacklist: + - "/Motors.*" From f9eccc1ab630b9b9f85aaca4c629eaa55c4fd3ba Mon Sep 17 00:00:00 2001 From: iory Date: Tue, 24 May 2022 23:01:55 +0900 Subject: [PATCH 3/7] [jsk_pr2_startup/warning] Check compressed topics for data reduction and adding edgetpu image topics --- .../jsk_pr2_startup/jsk_pr2_warning/sanity_targets.yaml | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/sanity_targets.yaml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/sanity_targets.yaml index effacff7b8..502928cae3 100644 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/sanity_targets.yaml +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/sanity_targets.yaml @@ -1,4 +1,5 @@ topics: - - /kinect_head/rgb/image_raw - - /kinect_head/depth_registered/image_raw - + - /kinect_head/rgb/image_raw/compressed + - /kinect_head/depth_registered/image_raw/compressedDepth + - /edgetpu_human_pose_estimator/output/image/compressed + - /edgetpu_object_detector/output/image/compressed From 19c258e2407e930f4a74e29f8d293c0b1d204e99 Mon Sep 17 00:00:00 2001 From: iory Date: Tue, 24 May 2022 23:02:24 +0900 Subject: [PATCH 4/7] [jsk_pr2_startup/warning] Check audio topic for sanity diagnostics --- .../jsk_pr2_startup/jsk_pr2_warning/sanity_targets.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/sanity_targets.yaml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/sanity_targets.yaml index 502928cae3..2b298ea54b 100644 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/sanity_targets.yaml +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/sanity_targets.yaml @@ -3,3 +3,4 @@ topics: - /kinect_head/depth_registered/image_raw/compressedDepth - /edgetpu_human_pose_estimator/output/image/compressed - /edgetpu_object_detector/output/image/compressed + - /audio From 064a69dcc873277bd98dbd9a8d42dd9695cd2f15 Mon Sep 17 00:00:00 2001 From: iory Date: Fri, 27 May 2022 14:30:58 +0900 Subject: [PATCH 5/7] [jsk_pr2_startup] Fix joy node name in diagnostics analyzer --- .../jsk_pr2_startup/jsk_pr2_warning/jsk_pr2_analyzers.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/jsk_pr2_analyzers.yaml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/jsk_pr2_analyzers.yaml index b85284faef..2ee0419a4a 100644 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/jsk_pr2_analyzers.yaml +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/jsk_pr2_analyzers.yaml @@ -6,9 +6,9 @@ analyzers: joystick: type: diagnostic_aggregator/GenericAnalyzer path: Joystick - expected: 'joy: Joystick Driver Status' + expected: 'joy_node: Joystick Driver Status' num_items: 1 - remove_prefix: 'joy' + remove_prefix: 'joy_node' sound: type: diagnostic_aggregator/GenericAnalyzer path: Sound From ba2b7c2c89d9ca9601c39cfb0907c6e937462b2d Mon Sep 17 00:00:00 2001 From: iory Date: Fri, 27 May 2022 14:32:11 +0900 Subject: [PATCH 6/7] [jsk_pr2_startup] Ignore calibration stuck because PR2 speaks this error in Japanese --- .../jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml index 4be4199f81..1f46abcc60 100644 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml @@ -16,6 +16,7 @@ blacklist: - name: "/Motors/EtherCAT.*" message: "Safety Lockout.*" - name: "/Realtime Controllers/Controller.*" + - name: "/Realtime Controllers/Calibration stuck" - name: "/Computers/CPU/c\\d CPU Temperature" run_stop_blacklist: - "/Motors.*" From a7408afa362c00a7a18a464325d0374145770169 Mon Sep 17 00:00:00 2001 From: iory Date: Fri, 27 May 2022 14:32:44 +0900 Subject: [PATCH 7/7] [jsk_pr2_startup/warning] Ignore uncalibrated error --- .../jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml index 1f46abcc60..2c60dc86bb 100644 --- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml +++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning/warning_blacklist.yaml @@ -7,6 +7,8 @@ blacklist: - name: "/Computers/CPU/c2 CPU Usage" - name: "/Devices/Joystick/Joystick Driver Status" - name: "/Devices/Sound" + - name: "/Joints/Joint.*" + message: "Uncalibrated" - name: "/Other/Accelerometer.*" - name: "/Other/NTP offset from" - name: "/Other/Pressure sensors.*"