From 88cd6104032e5debb395ddb05affec32b0d890e9 Mon Sep 17 00:00:00 2001
From: JSK fetch user <fetch@jsk.imi.i.u-tokyo.ac.jp>
Date: Wed, 31 May 2023 18:51:26 +0900
Subject: [PATCH 01/10] Adopt to fetch1075 default environment

Author:    Naoto Tsukamoto <tsukamoto@jsk.imi.i.u-tokyo.ac.jp>
---
 .../launch/interaction.launch                 |  9 ++++---
 .../jsk_robot_startup/launch/lifelog.launch   | 17 +++++++-----
 .../launch/sample_database_talker.launch      | 27 +++++++++++++++++++
 3 files changed, 43 insertions(+), 10 deletions(-)
 create mode 100644 jsk_robot_common/jsk_robot_startup/launch/sample_database_talker.launch

diff --git a/jsk_robot_common/jsk_robot_startup/launch/interaction.launch b/jsk_robot_common/jsk_robot_startup/launch/interaction.launch
index 04a094ec7a..637fc563f7 100644
--- a/jsk_robot_common/jsk_robot_startup/launch/interaction.launch
+++ b/jsk_robot_common/jsk_robot_startup/launch/interaction.launch
@@ -20,11 +20,14 @@
 
   <arg name="chat_use_helper" default="true" doc="set false when your program respond to chat" />
 
+  <arg name="launch_google_chat" default="true" />
+  <arg name="launch_gdrive_server" default="true" />
+  
   <!-- Google Chat ROS -->
-  <include file="$(find google_chat_ros)/launch/google_chat.launch">
+  <include file="$(find google_chat_ros)/launch/google_chat.launch" if="$(arg launch_google_chat)">
     <arg name="receiving_mode" value="pubsub" />
     <arg name="project_id" value="$(arg project_id)" />
-    <arg name="override_project_id" value="true" />
+    <!-- <arg name="override_project_id" value="true" /> -->
     <arg name="subscription_id" value="chat-sub" />
     <arg name="respawn" value="true" />
     <arg name="google_cloud_credentials_json" value="$(arg google_chat_credentials_json)"/>
@@ -46,7 +49,7 @@
   </include>
 
   <!-- gdrive_ros -->
-  <include file="$(find gdrive_ros)/launch/gdrive_server.launch">
+  <include file="$(find gdrive_ros)/launch/gdrive_server.launch" if="$(arg launch_gdrive_server)">
     <arg name="settings_yaml" value="$(find jsk_robot_startup)/auth/pydrive_settings.yaml" />
     <arg name="respawn" value="true" />
     <arg name="node_name" value="gdrive_ros" />
diff --git a/jsk_robot_common/jsk_robot_startup/launch/lifelog.launch b/jsk_robot_common/jsk_robot_startup/launch/lifelog.launch
index 5b3e4b1d95..8b39f67a63 100644
--- a/jsk_robot_common/jsk_robot_startup/launch/lifelog.launch
+++ b/jsk_robot_common/jsk_robot_startup/launch/lifelog.launch
@@ -23,11 +23,14 @@
 
   <arg name="image" default="usb_cam/image_raw" />
 
+  <arg name="launch_mongodb" default="true" />
+
   <param name="robot/database" value="jsk_robot_lifelog"/>
 
+
   <!-- logging database -->
   <param name="mongodb_replicate_on_write" value="true" /> <!-- need to set True to query from extra serveres, otherwise it only query from local server -->
-  <include file="$(find jsk_robot_startup)/lifelog/mongodb.launch">
+  <include file="$(find jsk_robot_startup)/lifelog/mongodb.launch" if="$(arg launch_mongodb)">
     <arg name="use_daemon" value="true"/>
     <arg name="port" value="27017" />
     <arg name="repl_set_mode" value="false" />
@@ -80,12 +83,12 @@
         args="--wait-for-start $(arg image)/output/compressed /publish_trigger_mongodb_event std_msgs/Header
               'std_msgs.msg.Header(stamp=m.header.stamp, frame_id=m._connection_header[&quot;callerid&quot;])' --import std_msgs" />
 
-  <node pkg="topic_tools" type="transform" name="publish_trigger_mongodb_event_aws_auto_checkin"
-        args="--wait-for-start /aws_auto_checkin_app/output/class /publish_trigger_mongodb_event std_msgs/Header
-              'std_msgs.msg.Header(stamp=m.header.stamp, frame_id=m._connection_header[&quot;callerid&quot;])' --import std_msgs" />
-  <node pkg="topic_tools" type="transform" name="publish_trigger_mongodb_event_aws_detect_faces"
-        args="--wait-for-start /aws_detect_faces/attributes /publish_trigger_mongodb_event std_msgs/Header
-              'std_msgs.msg.Header(stamp=m.header.stamp, frame_id=m._connection_header[&quot;callerid&quot;])' --import std_msgs" />
+  <!-- <node pkg="topic_tools" type="transform" name="publish_trigger_mongodb_event_aws_auto_checkin" -->
+  <!--       args="-\-wait-for-start /aws_auto_checkin_app/output/class /publish_trigger_mongodb_event std_msgs/Header -->
+  <!--             'std_msgs.msg.Header(stamp=m.header.stamp, frame_id=m._connection_header[&quot;callerid&quot;])' -\-import std_msgs" /> -->
+  <!-- <node pkg="topic_tools" type="transform" name="publish_trigger_mongodb_event_aws_detect_faces" -->
+  <!--       args="-\-wait-for-start /aws_detect_faces/attributes /publish_trigger_mongodb_event std_msgs/Header -->
+  <!--             'std_msgs.msg.Header(stamp=m.header.stamp, frame_id=m._connection_header[&quot;callerid&quot;])' -\-import std_msgs" /> -->
   <node pkg="topic_tools" type="transform" name="publish_trigger_mongodb_event_dialogflow_client"
         args="--wait-for-start /dialogflow_client/text_action/result /publish_trigger_mongodb_event std_msgs/Header
               'std_msgs.msg.Header(stamp=m.header.stamp, frame_id=m._connection_header[&quot;callerid&quot;])' --import std_msgs" />
diff --git a/jsk_robot_common/jsk_robot_startup/launch/sample_database_talker.launch b/jsk_robot_common/jsk_robot_startup/launch/sample_database_talker.launch
new file mode 100644
index 0000000000..44540e981b
--- /dev/null
+++ b/jsk_robot_common/jsk_robot_startup/launch/sample_database_talker.launch
@@ -0,0 +1,27 @@
+<launch>
+  
+  <include file="$(find jsk_robot_startup)/launch/lifelog.launch" >
+    <arg name="logger_save_action" value="true" />
+    <arg name="logger_save_smach" value="true" />
+    <!-- <arg name="logger_save_faces" value="true" /> -->
+    <arg name="logger_save_dialogflow" value="true" />
+    <arg name="image" value="/head_camera/rgb/image_rect_color" />
+    <arg name="launch_mongodb" value="false" />
+  </include>
+  <include file="$(find jsk_robot_startup)/launch/interaction.launch" >
+    <arg name="chat_use_helper" value="false" />
+    <arg name="launch_google_chat" value="false" />
+    <arg name="launch_gdrive_server" value="false" />
+  </include>
+  <include file="$(find jsk_perception)/launch/vqa.launch" >
+    <arg name="host" value="133.11.216.160" />
+    <arg name="port" value="8888" />
+    <arg name="run_api" value="false" />
+  </include>
+  <include file="$(find jsk_perception)/launch/classification.launch" >
+    <arg name="host" value="133.11.216.160" />
+    <arg name="port" value="9999" />
+    <arg name="run_api" value="false" />
+  </include>
+
+</launch>

From ac5c1b77879e4c13554a030693fd6972fc0eb2e3 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 25 Oct 2023 15:52:52 +0900
Subject: [PATCH 02/10] [jsk_robot_startup] Add override_project_id true

---
 jsk_robot_common/jsk_robot_startup/launch/interaction.launch | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_robot_common/jsk_robot_startup/launch/interaction.launch b/jsk_robot_common/jsk_robot_startup/launch/interaction.launch
index 637fc563f7..fe889ab38b 100644
--- a/jsk_robot_common/jsk_robot_startup/launch/interaction.launch
+++ b/jsk_robot_common/jsk_robot_startup/launch/interaction.launch
@@ -37,6 +37,7 @@
 
   <!-- Dialogflow Client ROS --> <!-- this requires https://github.com/jsk-ros-pkg/jsk_3rdparty/pull/460 -->
   <include file="$(find dialogflow_task_executive)/launch/dialogflow_ros.launch">
+    <arg name="override_project_id" value="true" />
     <arg name="credential" value="$(arg google_credentials_json)" />
     <arg name="project_id" value="collaborative-remembering-kwit" />
     <arg name="enable_hotword" value="false" />

From d22ce4cd32753c7d8e9c0ab132c46c61220dbb6d Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 25 Oct 2023 15:57:38 +0900
Subject: [PATCH 03/10] [jsk_robot_startup] Add launch_common_logger arg to
 disable launching common logger

---
 jsk_robot_common/jsk_robot_startup/launch/lifelog.launch | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/jsk_robot_common/jsk_robot_startup/launch/lifelog.launch b/jsk_robot_common/jsk_robot_startup/launch/lifelog.launch
index 8b39f67a63..8ea7380c63 100644
--- a/jsk_robot_common/jsk_robot_startup/launch/lifelog.launch
+++ b/jsk_robot_common/jsk_robot_startup/launch/lifelog.launch
@@ -24,6 +24,7 @@
   <arg name="image" default="usb_cam/image_raw" />
 
   <arg name="launch_mongodb" default="true" />
+  <arg name="launch_common_logger" default="true" />
 
   <param name="robot/database" value="jsk_robot_lifelog"/>
 
@@ -47,7 +48,7 @@
     </node>
   </group>
 
-  <include file="$(find jsk_robot_startup)/lifelog/common_logger.launch">
+  <include file="$(find jsk_robot_startup)/lifelog/common_logger.launch" if="$(arg launch_common_logger)">
     <arg name="save_rgb" value="$(arg logger_save_rgb)" />
     <arg name="save_depth" value="$(arg logger_save_depth)" />
     <arg name="save_tf" value="$(arg logger_save_tf)" />

From d76c2f30f81a6cf55444406ce0ec8370e462e235 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 25 Oct 2023 18:17:21 +0900
Subject: [PATCH 04/10] [jsk_robot_startup] save_speech and save_google_chat
 false

---
 jsk_robot_common/jsk_robot_startup/launch/lifelog.launch | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/jsk_robot_common/jsk_robot_startup/launch/lifelog.launch b/jsk_robot_common/jsk_robot_startup/launch/lifelog.launch
index 8ea7380c63..e0b3aa5690 100644
--- a/jsk_robot_common/jsk_robot_startup/launch/lifelog.launch
+++ b/jsk_robot_common/jsk_robot_startup/launch/lifelog.launch
@@ -20,11 +20,13 @@
   <arg name="logger_save_dialogflow" default="false" />
   <arg name="logger_save_app" default="false" />
   <arg name="logger_map_frame" default="odom" />
+  <arg name="logger_save_speech" default="false" />
+  <arg name="logger_save_google_chat" default="false" />
 
   <arg name="image" default="usb_cam/image_raw" />
 
-  <arg name="launch_mongodb" default="true" />
-  <arg name="launch_common_logger" default="true" />
+  <arg name="launch_mongodb" default="false" />
+  <arg name="launch_common_logger" default="false" />
 
   <param name="robot/database" value="jsk_robot_lifelog"/>
 
@@ -60,6 +62,8 @@
     <arg name="save_faces" value="$(arg logger_save_faces)" />
     <arg name="save_dialogflow" value="$(arg logger_save_dialogflow)" />
     <arg name="save_app" value="$(arg logger_save_app)" />
+    <arg name="save_speech" value="$(arg logger_save_speech)" />
+    <arg name="save_google_chat" value="$(arg logger_save_google_chat)" />
 
     <arg name="enable_monitor" value="false" />
     <arg name="log_rate" value="1.0" />

From e25159442d5054d04bad8a3e897184a80e0f5761 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 25 Oct 2023 18:17:41 +0900
Subject: [PATCH 05/10] [jsk_robot_startup] Comment out lifelog.launch

---
 .../launch/sample_database_talker.launch      | 19 +++++++++----------
 1 file changed, 9 insertions(+), 10 deletions(-)

diff --git a/jsk_robot_common/jsk_robot_startup/launch/sample_database_talker.launch b/jsk_robot_common/jsk_robot_startup/launch/sample_database_talker.launch
index 44540e981b..6313364c0d 100644
--- a/jsk_robot_common/jsk_robot_startup/launch/sample_database_talker.launch
+++ b/jsk_robot_common/jsk_robot_startup/launch/sample_database_talker.launch
@@ -1,14 +1,13 @@
 <launch>
-  
-  <include file="$(find jsk_robot_startup)/launch/lifelog.launch" >
-    <arg name="logger_save_action" value="true" />
-    <arg name="logger_save_smach" value="true" />
-    <!-- <arg name="logger_save_faces" value="true" /> -->
-    <arg name="logger_save_dialogflow" value="true" />
-    <arg name="image" value="/head_camera/rgb/image_rect_color" />
-    <arg name="launch_mongodb" value="false" />
-  </include>
-  <include file="$(find jsk_robot_startup)/launch/interaction.launch" >
+  <!-- <include file="$(find jsk_robot_startup)/launch/lifelog.launch" > -->
+  <!--   <arg name="logger_save_action" value="true" /> -->
+  <!--   <arg name="logger_save_smach" value="true" /> -->
+  <!--   <!-\- <arg name="logger_save_faces" value="true" /> -\-> -->
+  <!--   <arg name="logger_save_dialogflow" value="true" /> -->
+  <!--   <arg name="image" value="/head_camera/rgb/image_rect_color" /> -->
+  <!--   <arg name="launch_mongodb" value="false" /> -->
+  <!-- </include> -->
+  <include file="$(find jsk_robot_startup)/launch/interaction.launch" ns="db_talker" >
     <arg name="chat_use_helper" value="false" />
     <arg name="launch_google_chat" value="false" />
     <arg name="launch_gdrive_server" value="false" />

From c0fc6b56026625e9f816a34f422102ea3cb79967 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 25 Oct 2023 18:20:03 +0900
Subject: [PATCH 06/10] [jsk_fetch_startup] Launch lifelog.launch as default

---
 jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml
index f685bdd841..bdc462a3ec 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml
@@ -73,4 +73,9 @@
       - sound_play/SoundRequestActionGoal
       - sound_play/SoundRequestActionResult
   </rosparam>
+
+  <include file="$(find jsk_robot_startup)/launch/lifelog.launch" >
+    <arg name="image" value="/head_camera/rgb/image_rect_color" />
+  </include>
+
 </launch>

From 3a341e233cada02d2e902a24a32216bd0c457038 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 25 Oct 2023 18:52:26 +0900
Subject: [PATCH 07/10] [jsk_robot_startup][jsk_fetch_startup ] Change nodelet
 name to adjust existing nodelet

---
 .../jsk_fetch_startup/launch/fetch_lifelog.xml            | 1 +
 jsk_robot_common/jsk_robot_startup/launch/lifelog.launch  | 8 +++++---
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml
index bdc462a3ec..c3cb62cf67 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml
@@ -76,6 +76,7 @@
 
   <include file="$(find jsk_robot_startup)/launch/lifelog.launch" >
     <arg name="image" value="/head_camera/rgb/image_rect_color" />
+    <arg name="manager" value="mongodb_lifelog_nodelet_manager" />
   </include>
 
 </launch>
diff --git a/jsk_robot_common/jsk_robot_startup/launch/lifelog.launch b/jsk_robot_common/jsk_robot_startup/launch/lifelog.launch
index e0b3aa5690..406521e51c 100644
--- a/jsk_robot_common/jsk_robot_startup/launch/lifelog.launch
+++ b/jsk_robot_common/jsk_robot_startup/launch/lifelog.launch
@@ -28,6 +28,8 @@
   <arg name="launch_mongodb" default="false" />
   <arg name="launch_common_logger" default="false" />
 
+  <arg name="manager" default="mongodb_record_nodelet_manager" />
+
   <param name="robot/database" value="jsk_robot_lifelog"/>
 
 
@@ -68,7 +70,7 @@
     <arg name="enable_monitor" value="false" />
     <arg name="log_rate" value="1.0" />
     <arg name="launch_manager" value="true" />
-    <arg name="manager" value="mongodb_record_nodelet_manager" />
+    <arg name="manager" value="$(arg manager)" />
     <arg name="map_frame_id" value="$(arg logger_map_frame)" />
     <arg name="approximate_sync" value="true"/>
   </include>
@@ -107,7 +109,7 @@
   <!-- republish compressed/throttled image data only when /publish_trigger_mongodb_event is published -->
   <node name="camera_throttle_nodelet"
         pkg="nodelet" type="nodelet"
-        args="load jsk_topic_tools/SynchronizedThrottle mongodb_record_nodelet_manager" >
+        args="load jsk_topic_tools/SynchronizedThrottle $(arg manager)" >
     <rosparam subst_value="true">
       approximate_sync: true
       topics:
@@ -121,7 +123,7 @@
     <include file="$(find jsk_robot_startup)/lifelog/lifelog_rgb_image.launch" >
       <arg name="node_name" value="hand_color_logger" />
       <arg name="image" value="$(arg image)/compressed/throttled" />
-      <arg name="manager" value="mongodb_record_nodelet_manager" />
+      <arg name="manager" value="$(arg manager)" />
     </include>
   </group>
 

From 1b9a4ad504f469fd57d574c373c2dea94825b7ca Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 1 Nov 2023 14:00:49 +0900
Subject: [PATCH 08/10] [jsk_robot_startup] Remove override_project_id arg

---
 jsk_robot_common/jsk_robot_startup/launch/interaction.launch | 1 -
 1 file changed, 1 deletion(-)

diff --git a/jsk_robot_common/jsk_robot_startup/launch/interaction.launch b/jsk_robot_common/jsk_robot_startup/launch/interaction.launch
index fe889ab38b..00ec83a16b 100644
--- a/jsk_robot_common/jsk_robot_startup/launch/interaction.launch
+++ b/jsk_robot_common/jsk_robot_startup/launch/interaction.launch
@@ -27,7 +27,6 @@
   <include file="$(find google_chat_ros)/launch/google_chat.launch" if="$(arg launch_google_chat)">
     <arg name="receiving_mode" value="pubsub" />
     <arg name="project_id" value="$(arg project_id)" />
-    <!-- <arg name="override_project_id" value="true" /> -->
     <arg name="subscription_id" value="chat-sub" />
     <arg name="respawn" value="true" />
     <arg name="google_cloud_credentials_json" value="$(arg google_chat_credentials_json)"/>

From d2829293922021d3b0b2ebe73e6b91624cbfccb4 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 1 Nov 2023 14:08:56 +0900
Subject: [PATCH 09/10] [jsk_robot_startup] USe launch arg if we use aws
 mongodb trigger

---
 .../jsk_robot_startup/launch/lifelog.launch       | 15 +++++++++------
 1 file changed, 9 insertions(+), 6 deletions(-)

diff --git a/jsk_robot_common/jsk_robot_startup/launch/lifelog.launch b/jsk_robot_common/jsk_robot_startup/launch/lifelog.launch
index 406521e51c..3c8b93b3ba 100644
--- a/jsk_robot_common/jsk_robot_startup/launch/lifelog.launch
+++ b/jsk_robot_common/jsk_robot_startup/launch/lifelog.launch
@@ -28,6 +28,9 @@
   <arg name="launch_mongodb" default="false" />
   <arg name="launch_common_logger" default="false" />
 
+  <arg name="use_aws_auto_checkin_trigger" default="false" />
+  <arg name="use_aws_detect_faces_trigger" default="false" />
+
   <arg name="manager" default="mongodb_record_nodelet_manager" />
 
   <param name="robot/database" value="jsk_robot_lifelog"/>
@@ -90,12 +93,12 @@
         args="--wait-for-start $(arg image)/output/compressed /publish_trigger_mongodb_event std_msgs/Header
               'std_msgs.msg.Header(stamp=m.header.stamp, frame_id=m._connection_header[&quot;callerid&quot;])' --import std_msgs" />
 
-  <!-- <node pkg="topic_tools" type="transform" name="publish_trigger_mongodb_event_aws_auto_checkin" -->
-  <!--       args="-\-wait-for-start /aws_auto_checkin_app/output/class /publish_trigger_mongodb_event std_msgs/Header -->
-  <!--             'std_msgs.msg.Header(stamp=m.header.stamp, frame_id=m._connection_header[&quot;callerid&quot;])' -\-import std_msgs" /> -->
-  <!-- <node pkg="topic_tools" type="transform" name="publish_trigger_mongodb_event_aws_detect_faces" -->
-  <!--       args="-\-wait-for-start /aws_detect_faces/attributes /publish_trigger_mongodb_event std_msgs/Header -->
-  <!--             'std_msgs.msg.Header(stamp=m.header.stamp, frame_id=m._connection_header[&quot;callerid&quot;])' -\-import std_msgs" /> -->
+  <node pkg="topic_tools" type="transform" name="publish_trigger_mongodb_event_aws_auto_checkin" if="$(arg use_aws_auto_checkin_trigger)"
+        args="--wait-for-start /aws_auto_checkin_app/output/class /publish_trigger_mongodb_event std_msgs/Header
+              'std_msgs.msg.Header(stamp=m.header.stamp, frame_id=m._connection_header[&quot;callerid&quot;])' --import std_msgs" />
+  <node pkg="topic_tools" type="transform" name="publish_trigger_mongodb_event_aws_detect_faces" if="$(arg use_aws_detect_faces_trigger)"
+        args="--wait-for-start /aws_detect_faces/attributes /publish_trigger_mongodb_event std_msgs/Header
+              'std_msgs.msg.Header(stamp=m.header.stamp, frame_id=m._connection_header[&quot;callerid&quot;])' --import std_msgs" />
   <node pkg="topic_tools" type="transform" name="publish_trigger_mongodb_event_dialogflow_client"
         args="--wait-for-start /dialogflow_client/text_action/result /publish_trigger_mongodb_event std_msgs/Header
               'std_msgs.msg.Header(stamp=m.header.stamp, frame_id=m._connection_header[&quot;callerid&quot;])' --import std_msgs" />

From 65d5ce9da5333b68b224cbdc23bc0fed0879fa97 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 1 Nov 2023 14:27:47 +0900
Subject: [PATCH 10/10] [jsk_robot_startup] Use launch arg if we use
 lifelog.launch

---
 .../launch/sample_database_talker.launch       | 18 ++++++++++--------
 1 file changed, 10 insertions(+), 8 deletions(-)

diff --git a/jsk_robot_common/jsk_robot_startup/launch/sample_database_talker.launch b/jsk_robot_common/jsk_robot_startup/launch/sample_database_talker.launch
index 6313364c0d..dc50807020 100644
--- a/jsk_robot_common/jsk_robot_startup/launch/sample_database_talker.launch
+++ b/jsk_robot_common/jsk_robot_startup/launch/sample_database_talker.launch
@@ -1,12 +1,14 @@
 <launch>
-  <!-- <include file="$(find jsk_robot_startup)/launch/lifelog.launch" > -->
-  <!--   <arg name="logger_save_action" value="true" /> -->
-  <!--   <arg name="logger_save_smach" value="true" /> -->
-  <!--   <!-\- <arg name="logger_save_faces" value="true" /> -\-> -->
-  <!--   <arg name="logger_save_dialogflow" value="true" /> -->
-  <!--   <arg name="image" value="/head_camera/rgb/image_rect_color" /> -->
-  <!--   <arg name="launch_mongodb" value="false" /> -->
-  <!-- </include> -->
+  <arg name="launch_lifelog" default="true" />
+
+  <include file="$(find jsk_robot_startup)/launch/lifelog.launch" if="$(launch_lifelog)">
+    <arg name="logger_save_action" value="true" />
+    <arg name="logger_save_smach" value="true" />
+    <arg name="logger_save_faces" value="true" />
+    <arg name="logger_save_dialogflow" value="true" />
+    <arg name="image" value="/head_camera/rgb/image_rect_color" />
+    <arg name="launch_mongodb" value="false" />
+  </include>
   <include file="$(find jsk_robot_startup)/launch/interaction.launch" ns="db_talker" >
     <arg name="chat_use_helper" value="false" />
     <arg name="launch_google_chat" value="false" />