Merge pull request #1508 from knorth55/fetch-switch-bot

[jsk_fetch_startup] add switchbot in fetch_bringup.launch
jsk-ros-pkg · Aug 9, 2022 · 5e6ec78 · 5e6ec78
2 parents f8365f6 + 23e374b
commit 5e6ec78
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diff --git a/.travis.rosinstall.melodic b/.travis.rosinstall.melodic
@@ -53,3 +53,9 @@
 - git:
     local-name: UbiquityRobotics/magni_robot
     uri: https://github.com/UbiquityRobotics/magni_robot
+# switchbot_ros is not correctly released.
+# see: https://github.com/jsk-ros-pkg/jsk_3rdparty/issues/356
+- git:
+    local-name: jsk-ros-pkg/jsk_3rdparty 
+    uri: https://github.com/jsk-ros-pkg/jsk_3rdparty.git
+    version: f0ab7bba54523b8f9945ed4a3e9c0efec0c8dde9 
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -12,6 +12,7 @@
   <arg name="keepout_map_file" default="$(find jsk_maps)/raw_maps/eng2-7f-0.05_keepout.yaml" />
   <arg name="use_build_map" default="false" />
   <arg name="use_keepout" default="true" />
+  <arg name="fetch_switchbot" default="true" />
 
   <param name="robot/type" value="fetch" />
   <param name="robot/name" command='bash -c "hostname | xargs echo -n"' />
@@ -97,6 +98,11 @@
   <!-- twitter -->
   <include file="$(find jsk_fetch_startup)/launch/fetch_tweet.launch" />
 
+  <!-- switchbot -->
+  <include file="$(find switchbot_ros)/launch/switchbot.launch" if="$(arg fetch_switchbot)">
+    <arg name="token" value="/var/lib/robot/switchbot_token.txt" />
+  </include>
+
   <!-- app manager -->
   <include file="$(find jsk_robot_startup)/lifelog/app_manager.launch">
     <arg name="use_applist" value="false" /> <!-- use plugin -->

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_gazebo_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_gazebo_bringup.launch
@@ -39,5 +39,6 @@
     <arg name="boot_sound" value="false" />
     <arg name="launch_teleop" value="false" /> <!-- duplicates cmd_vel_mux nodes -->
     <arg name="launch_insta360" value="false" />
+    <arg name="fetch_switchbot" value="false" />
   </include>
 </launch>
diff --git a/jsk_fetch_robot/jsk_fetch_startup/package.xml b/jsk_fetch_robot/jsk_fetch_startup/package.xml
@@ -26,6 +26,7 @@
   <run_depend>robot_pose_publisher</run_depend>
   <run_depend>rviz</run_depend>
   <run_depend>touchegg</run_depend>
+  <run_depend>switchbot_ros</run_depend>
   <run_depend>tf2_ros</run_depend>
   <run_depend>voice_text</run_depend>