[Unitree] No app available for app_manager

[sktometometo]

I have built cross enviornment with https://github.com/jsk-ros-pkg/jsk_robot/pull/1873 And install it to Go1 Air with https://github.com/jsk-ros-pkg/jsk_robot/pull/1874

And after booting. I have connected pi user of 192.168.123.161 and source /opt/ros/jsk/hogehoge.bash and

pi@raspberrypi:~ $ rostopic list
/camera1/point_cloud_face
/camera1/range_visual_face
/camera2/point_cloud_chin
/camera3/range_visual_left
/camera4/range_visual_right
/camera5/point_cloud_rearDown
/client_count
/cmd_odom
/cmd_vel
/cmd_vel_2
/connected_clients
/diagnostics
/go1/body_pose
/go1/cmd_vel
/high_cmd
/high_state
/input_joy_mux/selected
/joint_states
/joy_head/joy_complemented
/joy_head/joy_dummy
/joy_head/joy_raw
/joy_head/joy_raw_to_input
/lcm_node/obs_env
/lcm_node/ultrasonic_env
/move_base_simple/goal
/odom
/people_pose
/pointcloud_process/ground_pointcloud
/range_front
/range_left
/range_right
/range_ultrasonic_face
/range_ultrasonic_left
/range_ultrasonic_right
/robot/app_list
/robot/application/app_status
/robotsound
/ros2udp/odom
/ros2udp_motion_mode_adv/joystick
/rosout
/rosout_agg
/sound_play/cancel
/sound_play/feedback
/sound_play/goal
/sound_play/is_speaking
/sound_play/result
/sound_play/status
/speech_audio
/speech_to_text
/tf
/tf_static
/ukd_triple/pose
/ukd_triple/state
/ukd_triple_2_goal/path_tag_line
/ukd_triple_2_goal/path_tag_window
pi@raspberrypi:~ $ rostopic echo /robot/app_list/available_apps --noarr
"<array type: app_manager/App, length: 0>"
---

So there is no app available.

[sktometometo]

unitree@nano2gb:~$ rostopic echo /robot/app_list
running_apps: 
  - 
    name: "jsk_unitree_startup/lead_teleop"
    display_name: ''
    icon: 
      format: ''
      data: []
    client_apps: []
available_apps: []
---
^Cunitree@nano2gb:~$ roscd jsk_unitree_startup/
unitree@nano2gb:/opt/jsk/User/src/jsk_robot/jsk_unitree_robot/jsk_unitree_startup$ ls
apps  autostart  CMakeLists.txt  config  ino  launch  package.xml  scripts
unitree@nano2gb:/opt/jsk/User/src/jsk_robot/jsk_unitree_robot/jsk_unitree_startup$ cd apps/
unitree@nano2gb:/opt/jsk/User/src/jsk_robot/jsk_unitree_robot/jsk_unitree_startup/apps$ ls
lead_teleop  unitree_apps.installed  watch_dog
unitree@nano2gb:/opt/jsk/User/src/jsk_robot/jsk_unitree_robot/jsk_unitree_startup/apps$ cd lead_teleop/
unitree@nano2gb:/opt/jsk/User/src/jsk_robot/jsk_unitree_robot/jsk_unitree_startup/apps/lead_teleop$ ls
lead_teleop.app  lead_teleop.interface  lead_teleop.png  lead_teleop.xml
unitree@nano2gb:/opt/jsk/User/src/jsk_robot/jsk_unitree_robot/jsk_unitree_startup/apps/lead_teleop$ roslaunch ./lead_teleop.xml
... logging to /home/unitree/.ros/log/9ef2d498-6b46-11ee-a3e9-e45f014c6088/roslaunch-nano2gb-9386.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.123.13:45479/

SUMMARY
========

PARAMETERS
 * /go1/joystick_teleop_dualshock3/button_sit: 1
 * /go1/joystick_teleop_dualshock3/button_stand: 2
 * /go1/joystick_teleop_dualshock3/num_buttons: 18
 * /head_teleop_joy_completion/axis_angular/yaw: 2
 * /head_teleop_joy_completion/axis_linear/x: 0
 * /head_teleop_joy_completion/axis_linear/y: 1
 * /head_teleop_joy_completion/enable_button: 0
 * /head_teleop_joy_completion/enable_turbo_button: -1
 * /head_teleop_joy_completion/pass_through: False
 * /head_teleop_joy_completion/scale_angular/yaw: 1.0
 * /head_teleop_joy_completion/scale_linear/x: 0.5
 * /head_teleop_joy_completion/scale_linear/y: 0.5
 * /rosdistro: melodic
 * /rosversion: 1.14.11
 * /teleop_twist_joy_dualshock3/axis_angular/yaw: 2
 * /teleop_twist_joy_dualshock3/axis_linear/x: 0
 * /teleop_twist_joy_dualshock3/axis_linear/y: 1
 * /teleop_twist_joy_dualshock3/enable_button: 0
 * /teleop_twist_joy_dualshock3/enable_turbo_button: -1
 * /teleop_twist_joy_dualshock3/scale_angular/yaw: 1.0
 * /teleop_twist_joy_dualshock3/scale_linear/x: 0.5
 * /teleop_twist_joy_dualshock3/scale_linear/y: 0.5

NODES
  /
    head_teleop_joy_completion (jsk_robot_startup/head_teleop_joy_completion.py)
    teleop_twist_joy_dualshock3 (teleop_twist_joy/teleop_node)
  /go1/
    joystick_teleop_dualshock3 (jsk_robot_startup/quadruped_joystick_teleop)

ROS_MASTER_URI=http://192.168.123.161:11311

process[head_teleop_joy_completion-1]: started with pid [9404]
process[teleop_twist_joy_dualshock3-2]: started with pid [9405]
process[go1/joystick_teleop_dualshock3-3]: started with pid [9406]
^C[go1/joystick_teleop_dualshock3-3] killing on exit
[teleop_twist_joy_dualshock3-2] killing on exit
[head_teleop_joy_completion-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
unitree@nano2gb:/opt/jsk/User/src/jsk_robot/jsk_unitree_robot/jsk_unitree_startup/apps/lead_teleop$ sourc^C
unitree@nano2gb:/opt/jsk/User/src/jsk_robot/jsk_unitree_robot/jsk_unitree_startup/apps/lead_teleop$ tmux
-bash: tmux: command not found
(failed reverse-i-search)`rostopic list ': ^Cstopic list
unitree@nano2gb:/opt/jsk/User/src/jsk_robot/jsk_unitree_robot/jsk_unitree_startup/apps/lead_teleop$ rosnode list
/app_manager
/camera1
/go1/unitree_service
/go1/unitree_state_publisher
/human_pose_publisher
/input_joy_mux
/input_joy_selector
/master_sync_nano2gb_8434_7719106372471243868
/node_lcm
/node_obstacle_avoidance
/node_obstacle_traverse
/node_ros_server
/ros2udp_motion_mode_adv
/rosapi
/rosbridge_websocket
/rosout
/roswww
/serial_node
/sound_play/is_speaking
/soundplay_node
/speech_to_text
/ukd_triple_2_goal
/ukd_triple_udp_node
unitree@nano2gb:/opt/jsk/User/src/jsk_robot/jsk_unitree_robot/jsk_unitree_startup/apps/lead_teleop$ rosnode info /serial_node
d--------------------------------------------------------------------------------
Node [/serial_node]
Publications: 
 * /diagnostics [diagnostic_msgs/DiagnosticArray]
 * /joy_head/joy_raw [sensor_msgs/Joy]
 * /rosout [rosgraph_msgs/Log]

Subscriptions: None

Services: 
 * /serial_node/get_loggers
 * /serial_node/set_logger_level

contacting node http://192.168.123.161:46153/ ...
Pid: 2511
Connections:
 * topic: /rosout
    * to: /rosout
    * direction: outbound (46077 - 192.168.123.161:41262) [9]
    * transport: TCPROS
 * topic: /joy_head/joy_raw
    * to: /input_joy_mux
    * direction: outbound (46077 - 192.168.123.161:41294) [10]
    * transport: TCPROS
 * topic: /joy_head/joy_raw
    * to: /input_joy_selector
    * direction: outbound (46077 - 192.168.123.161:41302) [18]
    * transport: TCPROS

unitree@nano2gb:/opt/jsk/User/src/jsk_robot/jsk_unitree_robot/jsk_unitree_startup/apps/lead_teleop$ rostopic echo /joy_head/joy_raw
^Cunitree@nano2gb:/opt/jsk/User/src/jsk_robot/jsk_unitree_robot/jsk_unitree_startup/apps/lead_teleop$ rostopic hz /joy_head/joy_raw
subscribed to [/joy_head/joy_raw]
no new messages
no new messages
no new messages
no new messages
no new messages
no new messages
no new messages
no new messages
no new messages
no new messages
no new messages
no new messages
^Cno new messages
unitree@nano2gb:/opt/jsk/User/src/jsk_robot/jsk_unitree_robot/jsk_unitree_startup/apps/lead_teleop$ 

[sktometometo]

I think I have to use another robot for my experiment