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:

k-okada

until read -s -n 1 -t 0.01; do \
   date; 
   for IP in 133.11.30.13 133.11.232.74 133.11.204.98 185.199.110.153; do\
     ping -c 3 -i 1 -I eth0 $IP ; sleep 1; \
   done; \
done

k-okada

dpkg-buildpackage: info: source package ros-noetic-ros-google-cloud-language
dpkg-buildpackage: info: source version 2.1.26-1focal
dpkg-buildpackage: info: source distribution focal
dpkg-buildpackage: info: source changed by Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
 dpkg-source --before-build .
dpkg-buildpackage: info: host architecture amd64
dpkg-source: info: using options from jsk_3rdparty-release/debian/source/options: --auto-commit
 debian/rules clean
dh clean -v --buildsystem=cmake --builddirectory=.obj-x86_64-linux-gnu
   dh_auto_clean -O-v -O--buildsystem=cmake -O--builddirectory=.obj-x86_64-linux-gnu

k-okada

UID        PID  PPID   LWP  C NLWP STIME TTY          TIME CMD
root         1     0     1  0    1 06:04 ?        00:00:00 /bin/bash /assets/wrapper
root        22     1    22  0    1 06:04 ?        00:00:00 runsvdir -P /opt/gitlab/service log: ...........................................................................................................................................................................................................................................................................................................................................................................................................
root        26    22    26  0    1 06:04 ?        00:00:00 runsv sshd
root        27    26    27  0    1 06:04 ?        00:00:00 svlogd -tt /var/log/gitlab/sshd
root        28    26    28  0    1 06:04 ?        00:00:00 sshd: /usr/sbin/sshd -D -f /assets/sshd_config -e [listener] 0 of 100-200 startups
root       332    22   332  0    1 06:04 ?        00:00:00 runsv logrotate
root  

k-okada

USER       PID %CPU %MEM    VSZ   RSS TTY      STAT START   TIME COMMAND
root         1  0.0  0.0   5856  1928 ?        Ss   05:47   0:00 /bin/bash /assets/wrapper
root        43  0.0  0.0   2516   536 ?        S    05:47   0:00 runsvdir -P /opt/gitlab/service log: ...........................................................................................................................................................................................................................................................................................................................................................................................................
root        52  0.0  0.0   2364   380 ?        Ss   05:47   0:00 runsv sshd
root        53  0.0  0.0   2508   380 ?        S    05:47   0:00 svlogd -tt /var/log/gitlab/sshd
root        54  0.0  0.0  12168  3952 ?        S    05:47   0:00 sshd: /usr/sbin/sshd -D -f /assets/sshd_config -e [listener] 0 of 100-200 startups
root       418  0.0  0.0   2364   384 ?