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jsk-ros-pkg / jsk_robot

jsk-ros-pkg/jsk_robot
https://github.com/jsk-ros-pkg/jsk_robot
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[Unitree] install.sh does not work #1870

Closed sktometometo closed 9 months ago

sktometometo commented 9 months ago

Install.sh does not work.

git diff to master

[12:20 午前 木 10月 12]
~/ros/ws_jsk_unitree/src/jsk-ros-pkg/jsk_robot/jsk_unitree_robot/cross $ git diff master
diff --git a/jsk_unitree_robot/cross/repos/unitree.repos b/jsk_unitree_robot/cross/repos/unitree.repos
index 172aae74f..4e83970d1 100644
--- a/jsk_unitree_robot/cross/repos/unitree.repos
+++ b/jsk_unitree_robot/cross/repos/unitree.repos
@@ -24,3 +24,15 @@ repositories:
     # enable to run simple apps parallel to other apps
     # https://github.com/PR2/app_manager/pull/59 have been merged,
     # but 1.4.0 have not released yet.
+  esp_now_ros:
+    type: git
+    url: https://github.com/sktometometo/esp_now_ros
+    version: master
+  rosserial:
+    type: git
+    url: https://github.com/ros-drivers/rosserial
+    version: melodic-devel
+  catkin_virtualenv:
+    type: git
+    url: https://github.com/locusrobotics/catkin_virtualenv.git
+    version: master
diff --git a/jsk_unitree_robot/jsk_unitree_startup/package.xml b/jsk_unitree_robot/jsk_unitree_startup/package.xml
index 9723686b9..85056213c 100644
--- a/jsk_unitree_robot/jsk_unitree_startup/package.xml
+++ b/jsk_unitree_robot/jsk_unitree_startup/package.xml
@@ -16,6 +16,7 @@
   <run_depend>rosserial_python</run_depend>
   <run_depend>teleop_twist_joy</run_depend>
   <run_depend>respeaker_ros</run_depend>
+  <run_depend>esp_now_ros</run_depend>

   <!-- for diagnostic aggregator -->
   <run_depend>diagnostic_aggregator</run_depend>
sktometometo@lee
[gitbranch:experiment_uwb_localization_master]
[ROS VERSION:1]

Error log

~/ros/ws_jsk_unitree/src/jsk-ros-pkg/jsk_robot/jsk_unitree_robot/cross $ ifconfig enp0s31f6
enp0s31f6: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
        inet 192.168.123.162  netmask 255.255.255.0  broadcast 192.168.123.255
        inet6 fe80::f6e7:3d9:9601:9f09  prefixlen 64  scopeid 0x20<link>
        ether 8c:8c:aa:32:87:db  txqueuelen 1000  (イーサネット)
        RX packets 546455  bytes 171938029 (171.9 MB)
        RX errors 246  dropped 0  overruns 0  frame 123
        TX packets 852834  bytes 560772113 (560.7 MB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
        device interrupt 16  memory 0xe3380000-e33a0000  

sktometometo@lee
[gitbranch:experiment_uwb_localization_master]
[ROS VERSION:1]
[ROS workspace:]
[12:18 午前 木 10月 12]
~/ros/ws_jsk_unitree/src/jsk-ros-pkg/jsk_robot/jsk_unitree_robot/cross $ ping 192.168.123.161
PING 192.168.123.161 (192.168.123.161) 56(84) バイトのデータ
64 バイト応答 送信元 192.168.123.161: icmp_seq=1 ttl=64 時間=0.395ミリ秒
64 バイト応答 送信元 192.168.123.161: icmp_seq=2 ttl=64 時間=0.236ミリ秒
^C
--- 192.168.123.161 ping 統計 ---
送信パケット数 2, 受信パケット数 2, パケット損失 0%, 時間 1010ミリ秒
rtt 最小/平均/最大/mdev = 0.236/0.315/0.395/0.079ミリ秒
sktometometo@lee
[gitbranch:experiment_uwb_localization_master]
[ROS VERSION:1]
[ROS workspace:]
[12:18 午前 木 10月 12]
~/ros/ws_jsk_unitree/src/jsk-ros-pkg/jsk_robot/jsk_unitree_robot/cross $ ping 192.168.123.13
PING 192.168.123.13 (192.168.123.13) 56(84) バイトのデータ
64 バイト応答 送信元 192.168.123.13: icmp_seq=1 ttl=64 時間=0.256ミリ秒
64 バイト応答 送信元 192.168.123.13: icmp_seq=2 ttl=64 時間=0.240ミリ秒
^C
--- 192.168.123.13 ping 統計 ---
送信パケット数 2, 受信パケット数 2, パケット損失 0%, 時間 1016ミリ秒
rtt 最小/平均/最大/mdev = 0.240/0.248/0.256/0.008ミリ秒
sktometometo@lee
[gitbranch:experiment_uwb_localization_master]
[ROS VERSION:1]
[ROS workspace:]
[12:18 午前 木 10月 12]
~/ros/ws_jsk_unitree/src/jsk-ros-pkg/jsk_robot/jsk_unitree_robot/cross $ ./install.sh -t Air -p 123 -d System
Automatic install script for ros unitree Go1 \n
!!! CAUTION !!! If you modifeid files in the Go1, it will be removed/overwrited
sktometometo@lee
[gitbranch:experiment_uwb_localization_master]
[ROS VERSION:1]
[ROS workspace:]
[12:18 午前 木 10月 12]
(reverse-i-search)`./install': ^Cinstall.sh -t Air -p 123 -d System
sktometometo@lee
[gitbranch:experiment_uwb_localization_master]
[ROS VERSION:1]
[ROS workspace:]
[12:18 午前 木 10月 12]
~/ros/ws_jsk_unitree/src/jsk-ros-pkg/jsk_robot/jsk_unitree_robot/cross $ ./install.sh -t Air -p 123 -d User
Automatic install script for ros unitree Go1 \n
!!! CAUTION !!! If you modifeid files in the Go1, it will be removed/overwrited
sktometometo@lee
sktometometo commented 9 months ago

TODO

This line returns nothing

$ ping -c4 192.168.123.161 2>/dev/null | awk '/---/,0' | grep -Po '[0-9]{1,3}(?=% packet loss)'
sktometometo@lee
[gitbranch:PR/unitree/adaptive-job-number]
[ROS VERSION:1]
[ROS workspace:]
[08:05 午後 日 10月 15]
~/ros/ws_jsk_unitree/src/jsk-ros-pkg/jsk_robot/jsk_unitree_robot/cross $ ping -c4 192.168.123.161 2>/dev/null
PING 192.168.123.161 (192.168.123.161) 56(84) バイトのデータ
64 バイト応答 送信元 192.168.123.161: icmp_seq=1 ttl=64 時間=0.357ミリ秒
64 バイト応答 送信元 192.168.123.161: icmp_seq=2 ttl=64 時間=0.678ミリ秒
64 バイト応答 送信元 192.168.123.161: icmp_seq=3 ttl=64 時間=0.481ミリ秒
64 バイト応答 送信元 192.168.123.161: icmp_seq=4 ttl=64 時間=0.674ミリ秒

--- 192.168.123.161 ping 統計 ---
送信パケット数 4, 受信パケット数 4, パケット損失 0%, 時間 3057ミリ秒
rtt 最小/平均/最大/mdev = 0.357/0.547/0.678/0.135ミリ秒
sktometometo@lee
[gitbranch:PR/unitree/adaptive-job-number]
[ROS VERSION:1]
[ROS workspace:]
[08:06 午後 日 10月 15]
~/ros/ws_jsk_unitree/src/jsk-ros-pkg/jsk_robot/jsk_unitree_robot/cross $ ping -c4 192.168.123.161 2>/dev/null | awk '/---/,0'
--- 192.168.123.161 ping 統計 ---
送信パケット数 4, 受信パケット数 4, パケット損失 0%, 時間 3060ミリ秒
rtt 最小/平均/最大/mdev = 0.308/0.445/0.712/0.156ミリ秒
sktometometo@lee
[gitbranch:PR/unitree/adaptive-job-number]
[ROS VERSION:1]
[ROS workspace:]
[08:06 午後 日 10月 15]
~/ros/ws_jsk_unitree/src/jsk-ros-pkg/jsk_robot/jsk_unitree_robot/cross $ ping -c4 192.168.123.161 2>/dev/null | awk '/---/,0' | grep -Po '[0-9]{1,3}(?=% packet loss)'
sktometometo@lee
[gitbranch:PR/unitree/adaptive-job-number]
[ROS VERSION:1]
[ROS workspace:]
[08:06 午後 日 10月 15]
~/ros/ws_jsk_unitree/src/jsk-ros-pkg/jsk_robot/jsk_unitree_robot/cross $ LANG=C ping -c4 192.168.123.161 2>/dev/null | awk '/---/,0' | grep -Po '[0-9]{1,3}(?=% packet loss)'
0
sktometometo@lee
[gitbranch:PR/unitree/adaptive-job-number]
[ROS VERSION:1]
[ROS workspace:]
[08:06 午後 日 10月 15]
~/ros/ws_jsk_unitree/src/jsk-ros-pkg/jsk_robot/jsk_unitree_robot/cross $
sktometometo commented 9 months ago

We have to add LANG=C for ping