k-okada

<?xml version="1.0" encoding="UTF-8"?>
<COLLADA xmlns="http://www.collada.org/2008/03/COLLADASchema" version="1.5.0">
	<asset>
		<contributor>
			<authoring_tool>URDF Collada Writer</authoring_tool>
		</contributor>
		<created>2025-04-14T17:45:52.000000</created>
		<modified>2025-04-14T17:45:52.000000</modified>
		<unit/>

k-okada

k-okada@p51s:~/catkin_ws/ws_eye_display/src/jsk_3rdparty/eye_display$ roslaunch launch/denden.launch  port:=/dev/ttyACM0 direction:=2
... logging to /home/k-okada/.ros/log/449ba2de-167d-11f0-bb83-00bb605aa0af/roslaunch-p51s-4784.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://p51s:36953/

SUMMARY
========

k-okada

docker run --rm -v $(pwd):/ws -ti ubuntu:22.04 /bin/bash -exec '
export REPOSITORY=file:///ws/apt_repo
export REPOSITORY=http://packages.ros.org.jsk.imi.i.u-tokyo.ac.jp/ros-one-arm64
echo "deb [trusted=yes] $REPOSITORY ./" | tee /etc/apt/sources.list.d/apt_repo.list
apt update
DEBIAN_FRONTEND=noninteractive TZ=Etc/UTC apt install -y python3-rosdep2
echo "yaml $REPOSITORY/local.yaml debian" | tee /etc/ros/rosdep/sources.list.d/1-apt_repo.list
rosdep update
apt install -y ros-one-pr2eus
bash -i

k-okada

# This list targets a snapshot of rosdistro for post-EOL use on Xenial

# os-specific listings first
yaml https://raw.githubusercontent.com/ros/rosdistro/d234db9d9c888e052a5bf05f6092eaaca45c0527/rosdep/osx-homebrew.yaml osx

# generic
yaml https://raw.githubusercontent.com/ros/rosdistro/d234db9d9c888e052a5bf05f6092eaaca45c0527/rosdep/base.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/d234db9d9c888e052a5bf05f6092eaaca45c0527/rosdep/python.yaml
yaml https://raw.githubusercontent.com/ros/rosdistro/d234db9d9c888e052a5bf05f6092eaaca45c0527/rosdep/ruby.yaml
gbpdistro https://raw.githubusercontent.com/ros/rosdistro/d234db9d9c888e052a5bf05f6092eaaca45c0527/releases/fuerte.yaml fuerte

k-okada

k-okada@73A2-desktop:~/catkin_ws/ws_jsk_3rdparty/src/jsk_3rdparty/3rdparty/voicevox$ pip list -v | grep local
async-generator                 1.10                 /usr/local/lib/python3.8/dist-packages           pip      
base-local-planner              1.17.3               /opt/ros/noetic/lib/python3/dist-packages                 
bloom                           0.11.2               /home/k-okada/.local/lib/python3.8/site-packages pip      
broom                           0.0.1                /home/k-okada/.local/lib/python3.8/site-packages pip      
certifi                         2023.5.7             /usr/local/lib/python3.8/dist-packages           pip      
chainer                         7.8.1                /usr/local/lib/python3.8/dist-packages           pip      
cmigemo                         0.1.6                /usr/local/lib/python3.8/dist-packages           pip      
dlib                            19.24.1              /usr/local/lib/python3.8/dist-packages           pip      
exceptiongroup    

k-okada

/usr/bin/cmake -S/home/k-okada/catkin_ws/ws_jsk_3rdparty/src/jsk_3rdparty/3rdparty/voicevox -B/home/k-okada/catkin_ws/ws_jsk_3rdparty/build/voicevox --check-build-system CMakeFiles/Makefile.cmake 0
/usr/bin/cmake -E cmake_progress_start /home/k-okada/catkin_ws/ws_jsk_3rdparty/build/voicevox/CMakeFiles /home/k-okada/catkin_ws/ws_jsk_3rdparty/build/voicevox/CMakeFiles/progress.marks
/usr/bin/make -f CMakeFiles/Makefile2 all
make[1]: Entering directory '/home/k-okada/catkin_ws/ws_jsk_3rdparty/build/voicevox'
/usr/bin/make -f CMakeFiles/all_installed.dir/build.make CMakeFiles/all_installed.dir/depend
/usr/bin/make -f CMakeFiles/voicevox_generate_virtualenv.dir/build.make CMakeFiles/voicevox_generate_virtualenv.dir/depend
make[2]: Entering directory '/home/k-okada/catkin_ws/ws_jsk_3rdparty/build/voicevox'
cd /home/k-okada/catkin_ws/ws_jsk_3rdparty/build/voicevox && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /home/k-okada/catkin_ws/ws_jsk_3rdparty/src/jsk_3rdparty/3rdparty/voicevox /home/k-okada/catkin_ws/ws_

k-okada

#!/usr/bin/env roseus

;; (setq robot-name 'akira)
;; (setq robot-name 'hanzou)
(setq robot-name 'h3s)
(require (format nil "models/~A-robot.l" robot-name))
(unless (and (boundp '*robot*) (string= (string-upcase (send *robot* :name)) (string robot-name)))
  (warning-message 2 "funcall ~A~%" robot-name)
  (setq *robot* (funcall robot-name)))
(case robot-name

k-okada

#!/usr/bin/python
#-*- coding: utf-8 -*-

# 難点
# client -> server には非同期送信なのでコールバックやタイマーで勝手なタイミングで高頻度に送信すると詰まって止まる→ループで定期送信
# server側の全(topic + type)を返すサービス(/rosapi/topics)が1HZくらいしか出ない．帯域が圧迫されると帰ってこない
# nodeがpubしたtopicを自分でsubしないように，そのtopicのpublishersをみてtopicを決める必要がある
# client側は全(topic + type + publisher)の情報が簡単に取得できるが(これもmelodic以降？)，server側は(topic + type)までしかない
# server側からdownloadする有効なtopicsは，(全topic) - (/rosbridge_websocketがpubしているtopic)
# しかしそれだとserver側でsubしているだけのtopic名もclient側にpubが形成されてコンフリクトする

k-okada

ech-user@ki00001:jsk_roseus$ git diff
diff --git a/roseus/roseus.cpp b/roseus/roseus.cpp
index 017869c..991fd9e 100644
--- a/roseus/roseus.cpp
+++ b/roseus/roseus.cpp
@@ -75,6 +75,8 @@
 #include <ros/param.h>
 #include <ros/callback_queue.h>
 
+#include <console_bridge/console.h>

k-okada

$ sudo apt install libx11-dev
[sudo] password for leus: 
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following packages were automatically installed and are no longer required:
  libapr1 libaprutil1 libflashrom1 libftdi1-2 libllvm13 libserf-1-1 libsvn1 libutf8proc2
  mercurial mercurial-common subversion
Use 'sudo apt autoremove' to remove them.
The following additional packages will be installed: