From eeb78e26a6b2de0d1491b7a46879d350e88592ba Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 8 Aug 2023 01:43:18 +0900
Subject: [PATCH] [jsk_spot_startup] add app plugin

---
 .../apps/sample_elevator/sample_elevator.app  | 62 +++++++++++++++++++
 1 file changed, 62 insertions(+)

diff --git a/jsk_spot_robot/jsk_spot_startup/apps/sample_elevator/sample_elevator.app b/jsk_spot_robot/jsk_spot_startup/apps/sample_elevator/sample_elevator.app
index 43788e9318..9bb2e091e6 100644
--- a/jsk_spot_robot/jsk_spot_startup/apps/sample_elevator/sample_elevator.app
+++ b/jsk_spot_robot/jsk_spot_startup/apps/sample_elevator/sample_elevator.app
@@ -2,3 +2,65 @@ display: Sample Elevator
 platform: spot
 launch: jsk_spot_startup/sample_elevator.xml
 interface: jsk_spot_startup/sample_elevator.interface
+plugins:
+  - name: panorama_video_recorder_plugin
+    type: app_recorder/video_recorder_plugin
+    launch_args:
+      video_path: /tmp
+      video_title: sample_elevator_panorama.avi
+      video_topic_name: /dual_fisheye_to_panorama/output
+      video_fps: 1.0
+  - name: rosbag_recorder_plugin
+    type: app_recorder/rosbag_recorder_plugin
+    launch_args:
+      rosbag_path: /tmp
+      rosbag_title: sample_elevator_rosbag.bag
+      compress: true
+      rosbag_topic_names:
+        - /rosout
+        - /tf
+        - /tf_static
+        - /joint_states
+        - /odom
+  - name: result_recorder_plugin
+    type: app_recorder/result_recorder_plugin
+    plugin_args:
+      result_path: /tmp
+      result_title: sample_elevator_result.yaml
+  - name: gdrive_uploader_plugin
+    type: app_uploader/gdrive_uploader_plugin
+    plugin_args:
+      upload_file_paths:
+        - /tmp/sample_elevator_result.yaml
+        - /tmp/sample_elevator_panorama.avi
+        - /tmp/sample_elevator_rosbag.bag
+      upload_file_titles:
+        - sample_elevator_result.yaml
+        - sample_elevator_panorama.avi
+        - sample_elevator_rosbag.bag
+      upload_parents_path: spot_sample_elevator
+      upload_server_name: /gdrive_server
+  - name: speech_notifier_plugin
+    type: app_notifier/speech_notifier_plugin
+    plugin_args:
+      client_name: /sound_play
+  - name: mail_notifier_plugin
+    type: app_notifier/mail_notifier_plugin
+    plugin_args:
+      mail_title: Spot Sample Elevator demo
+      use_timestamp_title: true
+      sender_address: belka@jsk.imi.i.u-tokyo.ac.jp
+      receiver_address: spot@jsk.imi.i.u-tokyo.ac.jp
+plugin_order:
+  start_plugin_order:
+    - panorama_video_recorder_plugin
+    - rosbag_recorder_plugin
+    - result_recorder_plugin
+    - gdrive_uploader_plugin
+    - mail_notifier_plugin
+  stop_plugin_order:
+    - panorama_video_recorder_plugin
+    - rosbag_recorder_plugin
+    - result_recorder_plugin
+    - gdrive_uploader_plugin
+    - mail_notifier_plugin