[jsk_pepper_startup] jsk_pepper_startupのノードを自動で立ち上げる

[kochigami]

追記

画像の取得に失敗しているみたい

メモ

パソコンが起動した時に、jsk_pepper_startup.launchを自動で立ち上げる。 ros-naoqiのプログラムは、 ROSの実行+環境変数の読み込みがあって、その部分でちょっとつまづいた。

• はじめはrobot_upstartを使おうとした（うまくいかない理由を探すのがちょっと大変だったので、systemctlでサービスとして起動することにした）
• 最初は何も考えずjsk_pepper_startup.launchをそのまま起動させるようにして、当然自動起動でノードが落ちた。
• まずnaoqi関係なく、ROSのノードを自動起動できるか試した。/chatterのpubプログラム。ここで、/opt/ros/kinetic/setup.bashと/home/<user>/catkin_ws/devel/setup.bashの読み込ませ方が分かった。
• 次に、同じプログラムで、環境変数が読み込めるかを試した。NAO_IP=xxx.xx.xxx.xxxを読み込ませ、/chatterで吐き出すプログラム。ここで、環境変数の渡し方が分かった。
• ここらへんで、パソコンを固定IPにした。
• 次に、naoqiのプログラムを1つずつ自動起動できるか試した。naoqi_driver.launchはできた。しかし、naoqi_pose/pose_manager.launchはALMotionが作れなくて落ちる。２つの違いはpython sdkを使うかどうかなので、そのPYTHONPATHが渡せていないと予想した。
• ここで時間を溶かしてしまった。次に、python sdkを使う他のプログラムを試してみた。naoqi_apps/launch。すると動く。そして、naoqi_pose/pose_manager.launchはlaunchの中でPYTHONPATHを受け取っていないことに気がついた。今まで気が付かなかったのは、.bashrcを読み込むと、PYTHONPATHは追加されるため。今は自動起動なので、.bashrcは読み込まれない。
• その部分を直して、jsk_pepper_startup.launchを自動起動することに成功した。

TODO

• naoqi_poseのlaunchのPYTHONPATHを受け取る部分を追加
• 書いたものをどこかに追加

初心者の学び

• 自動起動の時.bashrcは読み込まれない
• パソコンをサスペンドしても自動起動は起こらない
• サービスが起動しない時は、systemctl status <service名>、journalctl -u <service名>、journalctl -b(起動してからのログ) /var/log/syslogなどを見るとエラーの理由が分かることもある
• 自動起動で実行したいプログラムを書き換えた時、systemctl disable <service>してからsystemctl enable <service>するとシンボリックリンクが更新される。systemctl status <service>すると、立ち上げているプログラムの一覧が出せるので、実際に更新できているかはそこで確認できる

[kochigami]

追記 画像の取得に失敗しているみたい

ペッパー再起動したら取れるようになった。様子を見る。

pepper@pepper-ThinkPad-T480s:~$ rostopic hz /pepper_robot/camera/front/image_rsubscribed to [/pepper_robot/camera/front/image_raw]
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^Cno new messages