From ecd36eecd99fa5cfcdaa2686c8d3e4039ffec6db Mon Sep 17 00:00:00 2001
From: Yusuke Niitani <yuyuniitani@gmail.com>
Date: Thu, 23 Jun 2016 10:46:35 +0900
Subject: [PATCH 1/4] collect sib data more modular

---
 jsk_2016_01_baxter_apc/launch/collect_sib_data.launch | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/jsk_2016_01_baxter_apc/launch/collect_sib_data.launch b/jsk_2016_01_baxter_apc/launch/collect_sib_data.launch
index 7714cc59c..538ef00dc 100644
--- a/jsk_2016_01_baxter_apc/launch/collect_sib_data.launch
+++ b/jsk_2016_01_baxter_apc/launch/collect_sib_data.launch
@@ -1,15 +1,16 @@
 <launch>
   <arg name="hand" />
   <arg name="json" default=""/>
+  <arg name="save_dir" default="~/.ros/sib_data"/>
 
   <node name="$(arg hand)_collect_sib_data"
         pkg="jsk_apc2016_common" type="collect_sib_data.py"
         output="screen">
     <remap from="~input" to="$(arg hand)_sib_topic_sync/output"/>
     <remap from="~input/bin_info_array" to="/publish_bin_info/bin_array"/>
-    <remap from="~input/depth" to="/right_hand_camera/depth_registered/image_raw"/>
+    <remap from="~input/depth" to="/$(arg hand)_hand_camera/depth_registered/image_raw"/>
     <remap from="~target_bin_name" to="$(arg hand)_hand/target_bin"/>
-    <param name="~save_dir" value="$(find jsk_apc2016_common)/data/tokyo_run/1" />
+    <param name="~save_dir" value="$(arg save_dir)" />
     <param name="~json" value="$(arg json)"/>
     <param name="always_subscribe" value="True" />
     <param name="~ready_to_save" value="false" />

From 44fccbf334654a9e8c0c9895ad0a4b8f5a3efdca Mon Sep 17 00:00:00 2001
From: Yusuke Niitani <yuyuniitani@gmail.com>
Date: Thu, 23 Jun 2016 10:47:02 +0900
Subject: [PATCH 2/4] move collect sib to launch/include

---
 .../launch/{ => include}/collect_sib_data.launch                  | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename jsk_2016_01_baxter_apc/launch/{ => include}/collect_sib_data.launch (100%)

diff --git a/jsk_2016_01_baxter_apc/launch/collect_sib_data.launch b/jsk_2016_01_baxter_apc/launch/include/collect_sib_data.launch
similarity index 100%
rename from jsk_2016_01_baxter_apc/launch/collect_sib_data.launch
rename to jsk_2016_01_baxter_apc/launch/include/collect_sib_data.launch

From 6a2075d3209e9e8b0f7160f4ddb694badb791b00 Mon Sep 17 00:00:00 2001
From: Yusuke Niitani <yuyuniitani@gmail.com>
Date: Thu, 23 Jun 2016 10:50:18 +0900
Subject: [PATCH 3/4] add collect sib data in main.launch

---
 jsk_2016_01_baxter_apc/launch/main.launch | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/jsk_2016_01_baxter_apc/launch/main.launch b/jsk_2016_01_baxter_apc/launch/main.launch
index a9d1095c4..35552f0b3 100644
--- a/jsk_2016_01_baxter_apc/launch/main.launch
+++ b/jsk_2016_01_baxter_apc/launch/main.launch
@@ -97,4 +97,13 @@
     <param name="json" value="$(arg json)" />
   </node>
 
+  <!-- collecting data for sib -->
+  <include file="$(find jsk_2016_01_baxter_apc)/launch/include/collect_sib_data.launch">
+    <arg name="hand" value="right"/>
+    <arg name="json" value="$(arg json)"/>
+  </include>
+  <include file="$(find jsk_2016_01_baxter_apc)/launch/include/collect_sib_data.launch">
+    <arg name="hand" value="left"/>
+    <arg name="json" value="$(arg json)"/>
+  </include>
 </launch>

From 509467ab0d8c6a2ab3d1967200785f98eb3d702b Mon Sep 17 00:00:00 2001
From: Kentaro Wada <www.kentaro.wada@gmail.com>
Date: Sat, 25 Jun 2016 16:49:07 +0900
Subject: [PATCH 4/4] Make data collection in main.launch as optional

---
 jsk_2016_01_baxter_apc/euslisp/main.l     | 10 +++++----
 jsk_2016_01_baxter_apc/launch/main.launch | 26 ++++++++++++++++-------
 2 files changed, 24 insertions(+), 12 deletions(-)

diff --git a/jsk_2016_01_baxter_apc/euslisp/main.l b/jsk_2016_01_baxter_apc/euslisp/main.l
index 4da111378..7936bad2b 100755
--- a/jsk_2016_01_baxter_apc/euslisp/main.l
+++ b/jsk_2016_01_baxter_apc/euslisp/main.l
@@ -114,10 +114,12 @@
               (send *ri* :move-arm-body->bin-overlook-pose arm target-bin)
               (send *ri* :wait-interpolation)
               (unix::sleep 6)
-              (ros::set-param
-                (format nil "~a_collect_sib_data/ready_to_save" (send *ri* :arm-symbol2str arm))
-                t)
-              (unix::sleep 2)
+              (when (ros::get-param "~collect_data")
+                (ros::set-param
+                  (format nil "~a_collect_sib_data/ready_to_save" (send *ri* :arm-symbol2str arm))
+                  t)
+                (unix::sleep 2)
+                )
               (ros::ros-info "[main] Segmentating objects in bin" target-bin)
               (send *ri* :recognize-objects-segmentation-in-bin arm target-bin
                     :stamp (ros::time-now))
diff --git a/jsk_2016_01_baxter_apc/launch/main.launch b/jsk_2016_01_baxter_apc/launch/main.launch
index 35552f0b3..722354e8d 100644
--- a/jsk_2016_01_baxter_apc/launch/main.launch
+++ b/jsk_2016_01_baxter_apc/launch/main.launch
@@ -1,6 +1,7 @@
 <launch>
   <arg name="launch_main" default="true" />
   <arg name="json" />
+  <arg name="collect_data" default="false" />
 
   <!-- bin contents data -->
   <node pkg="jsk_2015_05_baxter_apc" type="bin_contents.py" name="bin_contents" respawn="true">
@@ -81,11 +82,17 @@
     args="&quot;(progn (apc-init :larm-controller) (apc-mainloop :larm))&quot;"
     respawn="true" output="screen">
     <env name="DISPLAY" value="" />
+    <rosparam subst_value="true">
+      collect_data: $(arg collect_data)
+    </rosparam>
   </node>
   <node if="$(arg launch_main)" pkg="jsk_2016_01_baxter_apc" type="main.l" name="right_hand"
     args="&quot;(progn (apc-init :rarm-controller) (apc-mainloop :rarm))&quot;"
     respawn="true" output="screen">
     <env name="DISPLAY" value="" />
+    <rosparam subst_value="true">
+      collect_data: $(arg collect_data)
+    </rosparam>
   </node>
 
   <!-- visualization -->
@@ -98,12 +105,15 @@
   </node>
 
   <!-- collecting data for sib -->
-  <include file="$(find jsk_2016_01_baxter_apc)/launch/include/collect_sib_data.launch">
-    <arg name="hand" value="right"/>
-    <arg name="json" value="$(arg json)"/>
-  </include>
-  <include file="$(find jsk_2016_01_baxter_apc)/launch/include/collect_sib_data.launch">
-    <arg name="hand" value="left"/>
-    <arg name="json" value="$(arg json)"/>
-  </include>
+  <group if="$(arg collect_data)">
+    <include file="$(find jsk_2016_01_baxter_apc)/launch/include/collect_sib_data.launch">
+      <arg name="hand" value="right"/>
+      <arg name="json" value="$(arg json)"/>
+    </include>
+    <include file="$(find jsk_2016_01_baxter_apc)/launch/include/collect_sib_data.launch">
+      <arg name="hand" value="left"/>
+      <arg name="json" value="$(arg json)"/>
+    </include>
+  </group>
+
 </launch>