add check_room_light.py to check if room light is on

[knorth55]

I make check_room_light node for all robots.
this code is originally from @708yamaguchi for fetch kitchen demo.
we can share the node for spot demo, too.

cc. @tongtybj @708yamaguchi @sktometometo

[708yamaguchi]

Thank you!

Could you add <node> tag to jsk_fetch_startup/launch/fetch_bringup.launch and pr2.launch? (and spot.launch?)

I checked that the following launch file works nicely on fetch15

<launch>
  <node pkg="jsk_robot_startup" type="check_room_light.py" name="check_room_light" output="screen">
    <remap from="~input" to="/head_camera/rgb/quater/image_rect_color" />
  </node>
</launch>

$ rostopic echo /check_room_light/output -n1
header: 
  seq: 55
  stamp: 
    secs: 1617782520
    nsecs: 907432310
  frame_id: "head_camera_rgb_optical_frame"
light_on: True
luminance: 120.110862732

[k-okada]

I see, if we want to publish Lux data in future, we could use Illuminance and publish rough estimated data for now. If you just publish mean rgb data or gray scale date, add comments or name.

…

-- ◉ Kei Okada 2021年4月7日(水) 23:14 Shingo Kitagawa ***@***.***>:

***@***.**** commented on this pull request. ------------------------------ In jsk_robot_common/jsk_robot_startup/msg/RoomLight.msg <#1330 (comment)> : > @@ -0,0 +1,3 @@ +std_msgs/Header header +bool light_on +float32 luminance In the definition, illuminance should be Lux unit, but we calculate this relative luminance from RGB image. so I think we cannot use the message in order to avoid misunderstandings. Otherwise, we can make RelativeLuminance.msg — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#1330 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AADYNXD77UA4V35KNKV454TTHRSFPANCNFSM42QEQYBA> .

[k-okada]

please update @708yamaguchi for fetch kitchen demo to use this node.

[knorth55]

Thank you, I update to change luminance to relative_luminance and add comment.

[708yamaguchi]

I update fetch kitchen demo using check_room_light.py

knorth55#89

[k-okada]

https://pipelines.actions.githubusercontent.com/0HdTXshvf0cYXsudvQge3vQkmBBjhb4DdvH1k2RT0qXsZUv3d0/_apis/pipelines/1/runs/1230/signedlogcontent/3?urlExpires=2021-07-18T04%3A57%3A24.9310254Z&urlSigningMethod=HMACV1&urlSignature=9llrqEYHTewjX6ivtWs%2BX4cWleMHXRWJ7iNYpSwEJeQ%3D

  _______________________________________________________________________________
  Errors << jsk_nao_startup:cmake /github/home/ros/ws_jsk_robot/logs/jsk_nao_startup/build.cmake.000.log
  -- set EUSDIR to /opt/ros/indigo/share/euslisp/jskeus/eus
  -- set ARCHDIR to Linux64
  CMake Error at /github/home/ros/ws_jsk_robot/devel/share/jsk_robot_startup/cmake/jsk_robot_startupConfig.cmake:141 (message):
    Project 'jsk_nao_startup' tried to find library 'jsk_robot_startup'.  The
    library is neither a target nor built/installed properly.  Did you compile
    project 'jsk_robot_startup'? Did you find_package() it before the
    subdirectory containing its code is included?
  Call Stack (most recent call first):
    /opt/ros/indigo/share/roseus/cmake/roseus.cmake:93 (find_package)
    /opt/ros/indigo/share/roseus/cmake/roseus.cmake:174 (generate_all_roseus_messages)
    /opt/ros/indigo/share/roseus/cmake/roseusConfig.cmake:190 (include)
    /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
    CMakeLists.txt:7 (find_package)