From c9d3761058ae0742cbe5e218281bddce2162f51a Mon Sep 17 00:00:00 2001
From: Naoya Yamaguchi <708yamaguchi@gmail.com>
Date: Fri, 7 Jan 2022 08:17:05 +0900
Subject: [PATCH 01/19] [jsk_fetch_startup] catkin clean libcmt before build in
 daily update_workspace.sh

---
 jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index f27e401366..bd90be1d83 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -13,7 +13,7 @@ wstool foreach --git 'git stash'
 wstool update --delete-changed-uris
 WSTOOL_UPDATE_RESULT=$?
 cd $HOME/ros/melodic
-catkin clean aques_talk collada_urdf_jsk_patch -y
+catkin clean aques_talk collada_urdf_jsk_patch libcmt -y
 catkin init
 catkin config -DCMAKE_BUILD_TYPE=Release
 catkin build

From e747d201eb8ba8b0f5aef74ac7942dc2e2eda1e9 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Fri, 15 Apr 2022 18:15:21 +0900
Subject: [PATCH 02/19] [jsk_fetch_startup] update workspace script

---
 .../jsk_fetch_startup/scripts/update_workspace.sh           | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index bd90be1d83..58ed7b710b 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -8,10 +8,16 @@ LOGFILE=$HOME/ros/melodic/update_workspace.txt
 set -x
 # Update workspace
 cd $HOME/ros/melodic/src
+if [ -e $HOME/ros/melodic/src/.rosinstall]; then
+    rm $HOME/ros/melodic/src/.rosinstall
+fi
 ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $HOME/ros/melodic/src/.rosinstall
 wstool foreach --git 'git stash'
 wstool update --delete-changed-uris
+wstool foreach --git 'branch-name=$(git rev-parse --abbrev-ref HEAD) && git reset --hard HEAD && git checkout origin/$branch-name && git branch -D $branch-name && git checkout $branch-name' # Forcefully checkout specified branch
+wstool update
 WSTOOL_UPDATE_RESULT=$?
+# Build workspace
 cd $HOME/ros/melodic
 catkin clean aques_talk collada_urdf_jsk_patch libcmt -y
 catkin init

From a9f851f15e918ddc02c71905357f79bc84e232f5 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Sat, 16 Apr 2022 20:34:21 +0900
Subject: [PATCH 03/19] [jsk_fetch_startup] remove redundant section

---
 jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index 58ed7b710b..4035e45eb6 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -8,9 +8,6 @@ LOGFILE=$HOME/ros/melodic/update_workspace.txt
 set -x
 # Update workspace
 cd $HOME/ros/melodic/src
-if [ -e $HOME/ros/melodic/src/.rosinstall]; then
-    rm $HOME/ros/melodic/src/.rosinstall
-fi
 ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $HOME/ros/melodic/src/.rosinstall
 wstool foreach --git 'git stash'
 wstool update --delete-changed-uris

From b168bf0cf4ac5674146f150cb931824dd638b366 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Mon, 18 Apr 2022 14:39:53 +0900
Subject: [PATCH 04/19] [jsk_fetch_startup] parameterize workspace path and
 make it as argument

---
 .../scripts/update_workspace.sh               | 35 ++++++++++++++++---
 1 file changed, 30 insertions(+), 5 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index 4035e45eb6..a2d9892cf5 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -1,21 +1,46 @@
 #!/usr/bin/env bash
 
-. $HOME/ros/melodic/devel/setup.bash
+function usage()
+{
+    echo "Usage: $0 [-w workspace_directory] [-h]"
+}
+
+WORKSPACE=$HOME/ros/melodic/
+
+while getopts hw: OPT
+do
+    case $OPT in
+        w)
+            WORKSPACE=$(cd $(dirname $OPTARG) && pwd)/$(basename $OPTARG)
+            ;;
+        h)
+            usage
+            exit 1
+            ;;
+    esac
+done
+
+if [ ! -e $WORKSPACE ]; then
+    echo "No workspace $WORKSPACE"
+    exit 1
+fi
+
+. $WORKSPACE/devel/setup.bash
 # Filename should end with .txt to preview the contents in a web browser
-LOGFILE=$HOME/ros/melodic/update_workspace.txt
+LOGFILE=$WORKSPACE/update_workspace.txt
 
 {
 set -x
 # Update workspace
-cd $HOME/ros/melodic/src
-ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $HOME/ros/melodic/src/.rosinstall
+cd $WORKSPACE/src
+ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $WORKSPACE/src/.rosinstall
 wstool foreach --git 'git stash'
 wstool update --delete-changed-uris
 wstool foreach --git 'branch-name=$(git rev-parse --abbrev-ref HEAD) && git reset --hard HEAD && git checkout origin/$branch-name && git branch -D $branch-name && git checkout $branch-name' # Forcefully checkout specified branch
 wstool update
 WSTOOL_UPDATE_RESULT=$?
 # Build workspace
-cd $HOME/ros/melodic
+cd $WORKSPACE
 catkin clean aques_talk collada_urdf_jsk_patch libcmt -y
 catkin init
 catkin config -DCMAKE_BUILD_TYPE=Release

From 92a8a9e9a161a61ba8e0a69c1f267c1f29f1014e Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Mon, 18 Apr 2022 15:02:37 +0900
Subject: [PATCH 05/19] [jsk_fetch_startup] update update_workspace.sh

---
 .../jsk_fetch_startup/scripts/update_workspace.sh      | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index a2d9892cf5..fe716ed534 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -32,12 +32,12 @@ LOGFILE=$WORKSPACE/update_workspace.txt
 {
 set -x
 # Update workspace
-cd $WORKSPACE/src
+wstool -t $WORKSPACE/src foreach --git 'git stash'
+wstool -t $WORKSPACE/src update jsk-ros-pkg/jsk_robot
 ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $WORKSPACE/src/.rosinstall
-wstool foreach --git 'git stash'
-wstool update --delete-changed-uris
-wstool foreach --git 'branch-name=$(git rev-parse --abbrev-ref HEAD) && git reset --hard HEAD && git checkout origin/$branch-name && git branch -D $branch-name && git checkout $branch-name' # Forcefully checkout specified branch
-wstool update
+wstool -t $WORKSPACE/src update --delete-changed-uris
+wstool -t $WORKSPACE/src foreach --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout $branchname' # Forcefully checkout specified branch
+wstool -t $WORKSPACE/src update
 WSTOOL_UPDATE_RESULT=$?
 # Build workspace
 cd $WORKSPACE

From 4b68ffa5342d9d3bb9c66e68ec1254a2d4f60cda Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 19 Apr 2022 09:44:46 +0900
Subject: [PATCH 06/19] [jsk_fetch_startup] update workspace script

---
 .../scripts/update_workspace.sh               | 56 +++++++++++++++----
 1 file changed, 45 insertions(+), 11 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index fe716ed534..d0ce39357f 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -2,21 +2,35 @@
 
 function usage()
 {
-    echo "Usage: $0 [-w workspace_directory] [-h]"
+    echo "Usage: $0 [-w workspace_directory] [-h] [-l]
+
+optional arguments:
+    -h                  show this help
+    -w WORKSPACE_PATH   specify target workspace
+    -l                  do not send a mail
+"
 }
 
+SEND_MAIL=true
 WORKSPACE=$HOME/ros/melodic/
 
-while getopts hw: OPT
+while getopts hlw: OPT
 do
     case $OPT in
         w)
             WORKSPACE=$(cd $(dirname $OPTARG) && pwd)/$(basename $OPTARG)
             ;;
+        l)
+            SEND_MAIL=false
+            ;;
         h)
             usage
             exit 1
             ;;
+        *)
+            usage
+            exit 1
+            ;;
     esac
 done
 
@@ -32,32 +46,52 @@ LOGFILE=$WORKSPACE/update_workspace.txt
 {
 set -x
 # Update workspace
-wstool -t $WORKSPACE/src foreach --git 'git stash'
-wstool -t $WORKSPACE/src update jsk-ros-pkg/jsk_robot
+wstool foreach -t $WORKSPACE/src --git 'git stash'
+wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot
 ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $WORKSPACE/src/.rosinstall
-wstool -t $WORKSPACE/src update --delete-changed-uris
-wstool -t $WORKSPACE/src foreach --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout $branchname' # Forcefully checkout specified branch
-wstool -t $WORKSPACE/src update
+wstool update -t $WORKSPACE/src --delete-changed-uris
+wstool foreach -t $WORKSPACE/src --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout $branchname' # Forcefully checkout specified branch
+wstool update -t $WORKSPACE/src
 WSTOOL_UPDATE_RESULT=$?
+# Rosdep Install
+sudo apt-get update -y
+rosdep update
+# jsk_footstep_planner is not released for melodic
+# jsk_footstep_controller is not released for melodic
+# librealsense2 should not be installed from ROS repository
+# realsense-ros should not be installed from ROS repository
+rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r --skip-keys \
+"\
+jsk_footstep_controller \
+jsk_footstep_planner \
+librealsense2 \
+realsense2_camera \
+realsense2_description \
+"
+ROSDEP_INSTALL_RESULT=$?
 # Build workspace
 cd $WORKSPACE
 catkin clean aques_talk collada_urdf_jsk_patch libcmt -y
 catkin init
 catkin config -DCMAKE_BUILD_TYPE=Release
-catkin build
+catkin build --continue-on-failure
 CATKIN_BUILD_RESULT=$?
 # Send mail
 MAIL_BODY=""
 if [ $WSTOOL_UPDATE_RESULT -ne 0 ]; then
     MAIL_BODY=$MAIL_BODY"Please wstool update workspace manually. "
 fi
+if [ $ROSDEP_INSTALL_RESULT -ne 0 ]; then
+    MAIL_BODY=$MAIL_BODY"Please install dependencies manually. "
+fi
 if [ $CATKIN_BUILD_RESULT -ne 0 ]; then
     MAIL_BODY=$MAIL_BODY"Please catkin build workspace manually."
 fi
 set +x
-} > $LOGFILE 2>&1
-if [ -n "$MAIL_BODY" ]; then
-   rostopic pub -1 /email jsk_robot_startup/Email "header:
+} 2>&1 | tee $LOGFILE
+if [ -n "$MAIL_BODY" ] && [ "${SEND_MAIL}" == "true" ]; then
+    echo "Sent a mail"
+    rostopic pub -1 /email jsk_robot_startup/Email "header:
   seq: 0
   stamp: {secs: 0, nsecs: 0}
   frame_id: ''

From c0a3e602bd9b6598b1ad1c58d1ef46970cb7b9cc Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Wed, 20 Apr 2022 09:11:59 +0900
Subject: [PATCH 07/19] [jsk_fetch_startup] fix default workspace path

---
 .../jsk_fetch_startup/scripts/update_workspace.sh  | 14 +++++++++++---
 1 file changed, 11 insertions(+), 3 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index d0ce39357f..7786444579 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -11,14 +11,19 @@ optional arguments:
 "
 }
 
+function get_full_path()
+{
+    echo "$(cd $(dirname $1) && pwd)/$(basename $1)"
+}
+
 SEND_MAIL=true
-WORKSPACE=$HOME/ros/melodic/
+WORKSPACE=$(get_full_path $HOME/ros/melodic)
 
 while getopts hlw: OPT
 do
     case $OPT in
         w)
-            WORKSPACE=$(cd $(dirname $OPTARG) && pwd)/$(basename $OPTARG)
+            WORKSPACE=$(get_full_path $OPTARG)
             ;;
         l)
             SEND_MAIL=false
@@ -46,11 +51,14 @@ LOGFILE=$WORKSPACE/update_workspace.txt
 {
 set -x
 # Update workspace
+
 wstool foreach -t $WORKSPACE/src --git 'git stash'
+wstool foreach -t $WORKSPACE/src --git 'git fetch --all --prune'
 wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot
 ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $WORKSPACE/src/.rosinstall
 wstool update -t $WORKSPACE/src --delete-changed-uris
-wstool foreach -t $WORKSPACE/src --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout $branchname' # Forcefully checkout specified branch
+# Forcefully checkout specified branch
+wstool foreach -t $WORKSPACE/src --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); if [ $branchname != "HEAD" ]; then git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout -b $branchname --track origin/$branchname; fi'
 wstool update -t $WORKSPACE/src
 WSTOOL_UPDATE_RESULT=$?
 # Rosdep Install

From 3bfc466deedeed2590810280dc48ef0b7bb9c737 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Wed, 27 Apr 2022 17:24:14 +0900
Subject: [PATCH 08/19] [jsk_fetch_startup] rename update_workspace.sh to
 update_workspace_main.sh and call it from update_workspace.sh

---
 .../scripts/update_workspace.sh               | 113 +-----------------
 .../scripts/update_workspace_main.sh          | 113 ++++++++++++++++++
 2 files changed, 115 insertions(+), 111 deletions(-)
 create mode 100755 jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index 7786444579..868f0cd1b2 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -1,113 +1,4 @@
 #!/usr/bin/env bash
 
-function usage()
-{
-    echo "Usage: $0 [-w workspace_directory] [-h] [-l]
-
-optional arguments:
-    -h                  show this help
-    -w WORKSPACE_PATH   specify target workspace
-    -l                  do not send a mail
-"
-}
-
-function get_full_path()
-{
-    echo "$(cd $(dirname $1) && pwd)/$(basename $1)"
-}
-
-SEND_MAIL=true
-WORKSPACE=$(get_full_path $HOME/ros/melodic)
-
-while getopts hlw: OPT
-do
-    case $OPT in
-        w)
-            WORKSPACE=$(get_full_path $OPTARG)
-            ;;
-        l)
-            SEND_MAIL=false
-            ;;
-        h)
-            usage
-            exit 1
-            ;;
-        *)
-            usage
-            exit 1
-            ;;
-    esac
-done
-
-if [ ! -e $WORKSPACE ]; then
-    echo "No workspace $WORKSPACE"
-    exit 1
-fi
-
-. $WORKSPACE/devel/setup.bash
-# Filename should end with .txt to preview the contents in a web browser
-LOGFILE=$WORKSPACE/update_workspace.txt
-
-{
-set -x
-# Update workspace
-
-wstool foreach -t $WORKSPACE/src --git 'git stash'
-wstool foreach -t $WORKSPACE/src --git 'git fetch --all --prune'
-wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot
-ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $WORKSPACE/src/.rosinstall
-wstool update -t $WORKSPACE/src --delete-changed-uris
-# Forcefully checkout specified branch
-wstool foreach -t $WORKSPACE/src --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); if [ $branchname != "HEAD" ]; then git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout -b $branchname --track origin/$branchname; fi'
-wstool update -t $WORKSPACE/src
-WSTOOL_UPDATE_RESULT=$?
-# Rosdep Install
-sudo apt-get update -y
-rosdep update
-# jsk_footstep_planner is not released for melodic
-# jsk_footstep_controller is not released for melodic
-# librealsense2 should not be installed from ROS repository
-# realsense-ros should not be installed from ROS repository
-rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r --skip-keys \
-"\
-jsk_footstep_controller \
-jsk_footstep_planner \
-librealsense2 \
-realsense2_camera \
-realsense2_description \
-"
-ROSDEP_INSTALL_RESULT=$?
-# Build workspace
-cd $WORKSPACE
-catkin clean aques_talk collada_urdf_jsk_patch libcmt -y
-catkin init
-catkin config -DCMAKE_BUILD_TYPE=Release
-catkin build --continue-on-failure
-CATKIN_BUILD_RESULT=$?
-# Send mail
-MAIL_BODY=""
-if [ $WSTOOL_UPDATE_RESULT -ne 0 ]; then
-    MAIL_BODY=$MAIL_BODY"Please wstool update workspace manually. "
-fi
-if [ $ROSDEP_INSTALL_RESULT -ne 0 ]; then
-    MAIL_BODY=$MAIL_BODY"Please install dependencies manually. "
-fi
-if [ $CATKIN_BUILD_RESULT -ne 0 ]; then
-    MAIL_BODY=$MAIL_BODY"Please catkin build workspace manually."
-fi
-set +x
-} 2>&1 | tee $LOGFILE
-if [ -n "$MAIL_BODY" ] && [ "${SEND_MAIL}" == "true" ]; then
-    echo "Sent a mail"
-    rostopic pub -1 /email jsk_robot_startup/Email "header:
-  seq: 0
-  stamp: {secs: 0, nsecs: 0}
-  frame_id: ''
-subject: 'Daily workspace update fails'
-body: '$MAIL_BODY'
-sender_address: '$(hostname)@jsk.imi.i.u-tokyo.ac.jp'
-receiver_address: 'fetch@jsk.imi.i.u-tokyo.ac.jp'
-smtp_server: ''
-smtp_port: ''
-attached_files: ['$LOGFILE']"
-fi
+cp $(rospack find jsk_fetch_startup)/scripts/update_workspace_main.sh /tmp/update_workspace.sh
+/tmp/update_workspace.sh $@
diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh
new file mode 100755
index 0000000000..74eb47693b
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh
@@ -0,0 +1,113 @@
+#!/usr/bin/env bash
+
+function usage()
+{
+    echo "Usage: $0 [-w workspace_directory] [-h] [-l]
+
+optional arguments:
+    -h                  show this help
+    -w WORKSPACE_PATH   specify target workspace
+    -l                  do not send a mail
+"
+}
+
+function get_full_path()
+{
+    echo "$(cd $(dirname $1) && pwd)/$(basename $1)"
+}
+
+SEND_MAIL=true
+WORKSPACE=$(get_full_path $HOME/ros/melodic)
+
+while getopts hlw: OPT
+do
+    case $OPT in
+        w)
+            WORKSPACE=$(get_full_path $OPTARG)
+            ;;
+        l)
+            SEND_MAIL=false
+            ;;
+        h)
+            usage
+            exit 1
+            ;;
+        *)
+            usage
+            exit 1
+            ;;
+    esac
+done
+
+if [ ! -e $WORKSPACE ]; then
+    echo "No workspace $WORKSPACE"
+    exit 1
+fi
+
+. $WORKSPACE/devel/setup.bash
+# Filename should end with .txt to preview the contents in a web browser
+LOGFILE=$WORKSPACE/update_workspace.txt
+
+{
+set -x
+# Update workspace
+
+wstool foreach -t $WORKSPACE/src --git 'git stash'
+wstool foreach -t $WORKSPACE/src --git 'git fetch origin --prune'
+wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot
+ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $WORKSPACE/src/.rosinstall
+wstool update -t $WORKSPACE/src --delete-changed-uris
+# Forcefully checkout specified branch
+wstool foreach -t $WORKSPACE/src --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); if [ $branchname != "HEAD" ]; then git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout -b $branchname --track origin/$branchname; fi'
+wstool update -t $WORKSPACE/src
+WSTOOL_UPDATE_RESULT=$?
+# Rosdep Install
+sudo apt-get update -y
+rosdep update
+# jsk_footstep_planner is not released for melodic
+# jsk_footstep_controller is not released for melodic
+# librealsense2 should not be installed from ROS repository
+# realsense-ros should not be installed from ROS repository
+rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r --skip-keys \
+"\
+jsk_footstep_controller \
+jsk_footstep_planner \
+librealsense2 \
+realsense2_camera \
+realsense2_description \
+"
+ROSDEP_INSTALL_RESULT=$?
+# Build workspace
+cd $WORKSPACE
+catkin clean aques_talk collada_urdf_jsk_patch libcmt -y
+catkin init
+catkin config -DCMAKE_BUILD_TYPE=Release
+catkin build --continue-on-failure
+CATKIN_BUILD_RESULT=$?
+# Send mail
+MAIL_BODY=""
+if [ $WSTOOL_UPDATE_RESULT -ne 0 ]; then
+    MAIL_BODY=$MAIL_BODY"Please wstool update workspace manually. "
+fi
+if [ $ROSDEP_INSTALL_RESULT -ne 0 ]; then
+    MAIL_BODY=$MAIL_BODY"Please install dependencies manually. "
+fi
+if [ $CATKIN_BUILD_RESULT -ne 0 ]; then
+    MAIL_BODY=$MAIL_BODY"Please catkin build workspace manually."
+fi
+set +x
+} 2>&1 | tee $LOGFILE
+if [ -n "$MAIL_BODY" ] && [ "${SEND_MAIL}" == "true" ]; then
+    echo "Sent a mail"
+    rostopic pub -1 /email jsk_robot_startup/Email "header:
+  seq: 0
+  stamp: {secs: 0, nsecs: 0}
+  frame_id: ''
+subject: 'Daily workspace update fails'
+body: '$MAIL_BODY'
+sender_address: '$(hostname)@jsk.imi.i.u-tokyo.ac.jp'
+receiver_address: 'fetch@jsk.imi.i.u-tokyo.ac.jp'
+smtp_server: ''
+smtp_port: ''
+attached_files: ['$LOGFILE']"
+fi

From c6f9882fa8327ff244a46025af30288879326339 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Mon, 4 Jul 2022 19:05:33 +0900
Subject: [PATCH 09/19] [jsk_fetch_startup] remove /tmp/update_workspace.sh
 after updating

---
 jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh | 1 +
 1 file changed, 1 insertion(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index 868f0cd1b2..5646eb2875 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -2,3 +2,4 @@
 
 cp $(rospack find jsk_fetch_startup)/scripts/update_workspace_main.sh /tmp/update_workspace.sh
 /tmp/update_workspace.sh $@
+rm /tmp/update_workspace.sh

From a104f74c17699240e802c62e74ac08c0f398abbf Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Thu, 15 Sep 2022 14:07:56 +0900
Subject: [PATCH 10/19] [jsk_fetch_startup] fix mailbody in update_workspace
 script

---
 .../jsk_fetch_startup/scripts/update_workspace_main.sh        | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh
index 74eb47693b..041c18fd5d 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh
@@ -48,6 +48,8 @@ fi
 # Filename should end with .txt to preview the contents in a web browser
 LOGFILE=$WORKSPACE/update_workspace.txt
 
+MAIL_BODY=""
+
 {
 set -x
 # Update workspace
@@ -85,7 +87,6 @@ catkin config -DCMAKE_BUILD_TYPE=Release
 catkin build --continue-on-failure
 CATKIN_BUILD_RESULT=$?
 # Send mail
-MAIL_BODY=""
 if [ $WSTOOL_UPDATE_RESULT -ne 0 ]; then
     MAIL_BODY=$MAIL_BODY"Please wstool update workspace manually. "
 fi
@@ -97,6 +98,7 @@ if [ $CATKIN_BUILD_RESULT -ne 0 ]; then
 fi
 set +x
 } 2>&1 | tee $LOGFILE
+
 if [ -n "$MAIL_BODY" ] && [ "${SEND_MAIL}" == "true" ]; then
     echo "Sent a mail"
     rostopic pub -1 /email jsk_robot_startup/Email "header:

From edbb495996dec03eee808ffd4af01d8a54096166 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Thu, 15 Sep 2022 14:17:35 +0900
Subject: [PATCH 11/19] [jsk_fetch_startup] fix mailbody in update_workspace
 script

---
 .../scripts/update_workspace_main.sh                 | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh
index 041c18fd5d..abb10dc24e 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh
@@ -48,7 +48,7 @@ fi
 # Filename should end with .txt to preview the contents in a web browser
 LOGFILE=$WORKSPACE/update_workspace.txt
 
-MAIL_BODY=""
+TMP_MAIL_BODY_FILE=/tmp/update_workspace_mailbody.txt
 
 {
 set -x
@@ -87,18 +87,22 @@ catkin config -DCMAKE_BUILD_TYPE=Release
 catkin build --continue-on-failure
 CATKIN_BUILD_RESULT=$?
 # Send mail
+echo "" > $TMP_MAIL_BODY_FILE
 if [ $WSTOOL_UPDATE_RESULT -ne 0 ]; then
-    MAIL_BODY=$MAIL_BODY"Please wstool update workspace manually. "
+    echo "Please wstool update workspace manually.\n" >> $TMP_MAIL_BODY_FILE
 fi
 if [ $ROSDEP_INSTALL_RESULT -ne 0 ]; then
-    MAIL_BODY=$MAIL_BODY"Please install dependencies manually. "
+    echo "Please install dependencies manually.\n" >> $TMP_MAIL_BODY_FILE
 fi
 if [ $CATKIN_BUILD_RESULT -ne 0 ]; then
-    MAIL_BODY=$MAIL_BODY"Please catkin build workspace manually."
+    echo "Please catkin build workspace manually.\n" >> $TMP_MAIL_BODY_FILE
 fi
 set +x
 } 2>&1 | tee $LOGFILE
 
+MAIL_BODY=$(cat $TMP_MAIL_BODY_FILE)
+echo "MAIL_BODY: $MAIL_BODY"
+
 if [ -n "$MAIL_BODY" ] && [ "${SEND_MAIL}" == "true" ]; then
     echo "Sent a mail"
     rostopic pub -1 /email jsk_robot_startup/Email "header:

From f5fb1fc2113c1ab234aed4069b716c3f6646dd8a Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Thu, 15 Sep 2022 22:17:02 +0900
Subject: [PATCH 12/19] [jsk_fetch_startup] Fix email body topic by
 jsk_robot_startup/EmailBody

---
 .../jsk_fetch_startup/scripts/update_workspace_main.sh         | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh
index abb10dc24e..ccae05598c 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh
@@ -110,7 +110,8 @@ if [ -n "$MAIL_BODY" ] && [ "${SEND_MAIL}" == "true" ]; then
   stamp: {secs: 0, nsecs: 0}
   frame_id: ''
 subject: 'Daily workspace update fails'
-body: '$MAIL_BODY'
+body:
+- {type: 'text', message: '${MAIL_BODY}', file_path: '', img_data: '', img_size: 0}
 sender_address: '$(hostname)@jsk.imi.i.u-tokyo.ac.jp'
 receiver_address: 'fetch@jsk.imi.i.u-tokyo.ac.jp'
 smtp_server: ''

From 788e3903cfcf08b29c3831ac28db96556dffeb61 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Sun, 18 Sep 2022 11:23:43 +0900
Subject: [PATCH 13/19] [jsk_fetch_startup] add comment to
 update_workspace_main.sh

---
 .../jsk_fetch_startup/scripts/update_workspace_main.sh         | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh
index ccae05598c..fd02428eee 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh
@@ -100,6 +100,9 @@ fi
 set +x
 } 2>&1 | tee $LOGFILE
 
+# MAIL_BODY variable cannot be set directly in a subshell. So it is set from temporary mail body text file.
+# The mail body text is put as $TMP_MAIL_BODY_FILE.
+# See https://github.com/jsk-ros-pkg/jsk_robot/issues/1569
 MAIL_BODY=$(cat $TMP_MAIL_BODY_FILE)
 echo "MAIL_BODY: $MAIL_BODY"
 

From ba9cfa47731532b82605c778d586687511c23d67 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Fri, 30 Sep 2022 17:29:04 +0900
Subject: [PATCH 14/19] [jsk_fetch_startup, jsk_robot_startup] move
 update_workspace_main.sh to jsk_robot_startup

---
 .../scripts/update_workspace.sh               |  8 +++-
 .../scripts/update_workspace_main.sh          | 48 +++++++++++--------
 2 files changed, 35 insertions(+), 21 deletions(-)
 rename {jsk_fetch_robot/jsk_fetch_startup => jsk_robot_common/jsk_robot_startup}/scripts/update_workspace_main.sh (76%)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
index 5646eb2875..6fd0ba00d2 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace.sh
@@ -1,5 +1,9 @@
 #!/usr/bin/env bash
 
-cp $(rospack find jsk_fetch_startup)/scripts/update_workspace_main.sh /tmp/update_workspace.sh
-/tmp/update_workspace.sh $@
+cp $(rospack find jsk_robot_startup)/scripts/update_workspace_main.sh /tmp/update_workspace.sh
+# jsk_footstep_planner is not released for melodic
+# jsk_footstep_controller is not released for melodic
+# librealsense2 should not be installed from ROS repository
+# realsense-ros should not be installed from ROS repository
+/tmp/update_workspace.sh -r $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO -t fetch -s "jsk_footstep_controller jsk_footstep_planner librealsense2 realsense2_camera realsense2_description"
 rm /tmp/update_workspace.sh
diff --git a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh
similarity index 76%
rename from jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh
rename to jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh
index fd02428eee..0dc6176331 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/scripts/update_workspace_main.sh
+++ b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh
@@ -2,11 +2,14 @@
 
 function usage()
 {
-    echo "Usage: $0 [-w workspace_directory] [-h] [-l]
+    echo "Usage: $0 [-w workspace_directory] [-r rosinstall_path] [-t robot_type] [-s skip keys] [-h] [-l]
 
 optional arguments:
     -h                  show this help
     -w WORKSPACE_PATH   specify target workspace
+    -r ROSINTALL_PATH   rosinstall path
+    -t ROBOT            robot type
+    -s SKIP_KEYS        rosdep install skip keys
     -l                  do not send a mail
 "
 }
@@ -17,14 +20,23 @@ function get_full_path()
 }
 
 SEND_MAIL=true
-WORKSPACE=$(get_full_path $HOME/ros/melodic)
+WORKSPACE=$(get_full_path $HOME/ros/$ROS_DISTRO)
 
-while getopts hlw: OPT
+while getopts w:r:t:s:lh OPT
 do
     case $OPT in
         w)
             WORKSPACE=$(get_full_path $OPTARG)
             ;;
+        r)
+            ROSINSTALL=$(get_full_path $OPTARG)
+            ;;
+        t)
+            ROBOT_TYPE=$OPTARG
+            ;;
+        s)
+            SKIP_KEYS=$OPTARG
+            ;;
         l)
             SEND_MAIL=false
             ;;
@@ -39,11 +51,20 @@ do
     esac
 done
 
-if [ ! -e $WORKSPACE ]; then
-    echo "No workspace $WORKSPACE"
+if [ "$WORKSPACE" = "" ]; then
+    echo "Please set valid workspace -w $WORKSPACE"
+    exit 1
+fi
+if [ "$ROSINSTALL" = "" ]; then
+    echo "Please set valid rosinstall -r $ROSINSTALL"
+    exit 1
+fi
+if [ "$ROBOT_TYPE" = "" ]; then
+    echo "Please set valid robot type -t $ROBOT_TYPE"
     exit 1
 fi
 
+
 . $WORKSPACE/devel/setup.bash
 # Filename should end with .txt to preview the contents in a web browser
 LOGFILE=$WORKSPACE/update_workspace.txt
@@ -57,7 +78,7 @@ set -x
 wstool foreach -t $WORKSPACE/src --git 'git stash'
 wstool foreach -t $WORKSPACE/src --git 'git fetch origin --prune'
 wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot
-ln -sf $(rospack find jsk_fetch_startup)/../jsk_fetch.rosinstall.$ROS_DISTRO $WORKSPACE/src/.rosinstall
+ln -sf $ROSINSTALL $WORKSPACE/src/.rosinstall
 wstool update -t $WORKSPACE/src --delete-changed-uris
 # Forcefully checkout specified branch
 wstool foreach -t $WORKSPACE/src --git --shell 'branchname=$(git rev-parse --abbrev-ref HEAD); if [ $branchname != "HEAD" ]; then git reset --hard HEAD; git checkout origin/$branchname; git branch -D $branchname; git checkout -b $branchname --track origin/$branchname; fi'
@@ -66,18 +87,7 @@ WSTOOL_UPDATE_RESULT=$?
 # Rosdep Install
 sudo apt-get update -y
 rosdep update
-# jsk_footstep_planner is not released for melodic
-# jsk_footstep_controller is not released for melodic
-# librealsense2 should not be installed from ROS repository
-# realsense-ros should not be installed from ROS repository
-rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r --skip-keys \
-"\
-jsk_footstep_controller \
-jsk_footstep_planner \
-librealsense2 \
-realsense2_camera \
-realsense2_description \
-"
+rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r --skip-keys $SKIP_KEYS
 ROSDEP_INSTALL_RESULT=$?
 # Build workspace
 cd $WORKSPACE
@@ -116,7 +126,7 @@ subject: 'Daily workspace update fails'
 body:
 - {type: 'text', message: '${MAIL_BODY}', file_path: '', img_data: '', img_size: 0}
 sender_address: '$(hostname)@jsk.imi.i.u-tokyo.ac.jp'
-receiver_address: 'fetch@jsk.imi.i.u-tokyo.ac.jp'
+receiver_address: '$ROBOT_TYPE@jsk.imi.i.u-tokyo.ac.jp'
 smtp_server: ''
 smtp_port: ''
 attached_files: ['$LOGFILE']"

From a6a5c2e8e72c688cc5f01dc43c8bf1a1f4602996 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Fri, 30 Sep 2022 17:31:16 +0900
Subject: [PATCH 15/19] [jsk_pr2_startup] add update_workspace.sh for pr2

---
 jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh | 5 +++++
 1 file changed, 5 insertions(+)
 create mode 100755 jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh

diff --git a/jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh b/jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh
new file mode 100755
index 0000000000..a1ebc5cfc0
--- /dev/null
+++ b/jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh
@@ -0,0 +1,5 @@
+#!/usr/bin/env bash
+
+cp $(rospack find jsk_robot_startup)/scripts/update_workspace_main.sh /tmp/update_workspace.sh
+/tmp/update_workspace.sh -w $HOME/ros/indigo -r $(rospack find jsk_pr2_startup)/jsk_pr2.rosinstall -t pr2
+rm /tmp/update_workspace.sh

From ac3368a6a5b6ae38df52487a1b219dd59873f3e7 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Fri, 30 Sep 2022 17:55:01 +0900
Subject: [PATCH 16/19] [jsk_robot_startup] add option to disable rosdep
 install

---
 .../scripts/update_workspace_main.sh          | 21 +++++++++++++------
 1 file changed, 15 insertions(+), 6 deletions(-)

diff --git a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh
index 0dc6176331..2443db885a 100755
--- a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh
+++ b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh
@@ -2,7 +2,7 @@
 
 function usage()
 {
-    echo "Usage: $0 [-w workspace_directory] [-r rosinstall_path] [-t robot_type] [-s skip keys] [-h] [-l]
+    echo "Usage: $0 [-w workspace_directory] [-r rosinstall_path] [-t robot_type] [-s skip keys] [-h] [-u] [-l]
 
 optional arguments:
     -h                  show this help
@@ -10,6 +10,7 @@ optional arguments:
     -r ROSINTALL_PATH   rosinstall path
     -t ROBOT            robot type
     -s SKIP_KEYS        rosdep install skip keys
+    -u                  do not run apt-get upgrade and rosdep install
     -l                  do not send a mail
 "
 }
@@ -19,10 +20,11 @@ function get_full_path()
     echo "$(cd $(dirname $1) && pwd)/$(basename $1)"
 }
 
+ROSDEP_INSTALL=true
 SEND_MAIL=true
 WORKSPACE=$(get_full_path $HOME/ros/$ROS_DISTRO)
 
-while getopts w:r:t:s:lh OPT
+while getopts w:r:t:s:ulh OPT
 do
     case $OPT in
         w)
@@ -37,6 +39,9 @@ do
         s)
             SKIP_KEYS=$OPTARG
             ;;
+        u)
+            ROSDEP_INSTALL=false
+            ;;
         l)
             SEND_MAIL=false
             ;;
@@ -85,10 +90,14 @@ wstool foreach -t $WORKSPACE/src --git --shell 'branchname=$(git rev-parse --abb
 wstool update -t $WORKSPACE/src
 WSTOOL_UPDATE_RESULT=$?
 # Rosdep Install
-sudo apt-get update -y
-rosdep update
-rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r --skip-keys $SKIP_KEYS
-ROSDEP_INSTALL_RESULT=$?
+if [ "${ROSDEP_INSTALL}" == "true" ]; then
+  sudo apt-get update -y;
+  rosdep update;
+  rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r --skip-keys $SKIP_KEYS;
+  ROSDEP_INSTALL_RESULT=$?;
+else
+  ROSDEP_INSTALL_RESULT=0;
+fi
 # Build workspace
 cd $WORKSPACE
 catkin clean aques_talk collada_urdf_jsk_patch libcmt -y

From 1c962a712603e6cd54473788688f31f42812fe1d Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Fri, 30 Sep 2022 17:56:50 +0900
Subject: [PATCH 17/19] [jsk_pr2_startup] do not run rosdep in pr2

---
 jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh b/jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh
index a1ebc5cfc0..3dbf85dd09 100755
--- a/jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh
+++ b/jsk_pr2_robot/jsk_pr2_startup/scripts/update_workspace.sh
@@ -1,5 +1,5 @@
 #!/usr/bin/env bash
 
 cp $(rospack find jsk_robot_startup)/scripts/update_workspace_main.sh /tmp/update_workspace.sh
-/tmp/update_workspace.sh -w $HOME/ros/indigo -r $(rospack find jsk_pr2_startup)/jsk_pr2.rosinstall -t pr2
+/tmp/update_workspace.sh -w $HOME/ros/indigo -r $(rospack find jsk_pr2_startup)/jsk_pr2.rosinstall -t pr2 -u
 rm /tmp/update_workspace.sh

From bafddb9a0acf1005dd82d57f7788abdb0e2377db Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <knorth55@users.noreply.github.com>
Date: Fri, 30 Sep 2022 19:09:36 +0900
Subject: [PATCH 18/19] Apply suggestions from code review

Co-authored-by: Koki Shinjo <sktometometo@gmail.com>
---
 .../jsk_robot_startup/scripts/update_workspace_main.sh          | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh
index 2443db885a..f653cd8934 100755
--- a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh
+++ b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh
@@ -82,7 +82,7 @@ set -x
 
 wstool foreach -t $WORKSPACE/src --git 'git stash'
 wstool foreach -t $WORKSPACE/src --git 'git fetch origin --prune'
-wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot
+wstool update -t $WORKSPACE/src jsk-ros-pkg/jsk_robot --delete-changed-uris
 ln -sf $ROSINSTALL $WORKSPACE/src/.rosinstall
 wstool update -t $WORKSPACE/src --delete-changed-uris
 # Forcefully checkout specified branch

From e3aec6b3c0399cc0806fc371831f29e182efc135 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Fri, 30 Sep 2022 22:29:59 +0900
Subject: [PATCH 19/19] [jsk_robot_startup] fix typo in
 update_workspace_main.sh

---
 .../jsk_robot_startup/scripts/update_workspace_main.sh          | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh
index f653cd8934..053f0fcfd3 100755
--- a/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh
+++ b/jsk_robot_common/jsk_robot_startup/scripts/update_workspace_main.sh
@@ -93,7 +93,7 @@ WSTOOL_UPDATE_RESULT=$?
 if [ "${ROSDEP_INSTALL}" == "true" ]; then
   sudo apt-get update -y;
   rosdep update;
-  rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r --skip-keys $SKIP_KEYS;
+  rosdep install --from-paths $WORKSPACE/src --ignore-src -y -r --skip-keys "$SKIP_KEYS";
   ROSDEP_INSTALL_RESULT=$?;
 else
   ROSDEP_INSTALL_RESULT=0;