Merge branch 'master' into fetch15

3rdparty/aques_talk/CMakeLists.txt

@@ -24,7 +24,7 @@ externalproject_add(aqtk2-lnx-eva
   TIMEOUT 120
   CONFIGURE_COMMAND bash -c "echo configure"
   BUILD_COMMAND bash -c "(cd ${AQTK2_LNX_LIB_DIR} && ln -sf libAquesTalk2Eva.so.2.3 libAquesTalk2.so && ln -sf libAquesTalk2Eva.so.2.3 libAquesTalk2.so.2)"
-  INSTALL_COMMAND bash -c "cp -P ${AQTK2_LNX_LIB_DIR}/libAquesTalk2* ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION} && cp phont/* ${CMAKE_CURRENT_SOURCE_DIR}/phont/"
+  INSTALL_COMMAND bash -c "cp -P ${AQTK2_LNX_LIB_DIR}/libAquesTalk2* ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION} && mkdir -p ${CMAKE_CURRENT_SOURCE_DIR}/phont/ && cp phont/* ${CMAKE_CURRENT_SOURCE_DIR}/phont/"
   BUILD_IN_SOURCE 1
 )
 

dialogflow_task_executive/CMakeLists.txt

@@ -51,9 +51,17 @@ if("$ENV{ROS_DISTRO}" STREQUAL "indigo")
   message(WARNING "to prevent upgrading to latest pip, which is not Python2 compatible")
   file(COPY requirements.txt.indigo DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
   file(RENAME ${CMAKE_CURRENT_BINARY_DIR}/requirements.txt.indigo requirements.txt)
-  catkin_generate_virtualenv()
+  catkin_generate_virtualenv(PYTHON_INTERPRETER python2)
+elseif("$ENV{ROS_DISTRO}" STRGREATER "melodic")
+  catkin_generate_virtualenv(
+    INPUT_REQUIREMENTS requirements.in
+    PYTHON_INTERPRETER python3
+    )
 else()
-  catkin_generate_virtualenv(INPUT_REQUIREMENTS requirements.in)
+  catkin_generate_virtualenv(
+    INPUT_REQUIREMENTS requirements.in
+    PYTHON_INTERPRETER python2
+    )
 endif()
 
 file(GLOB NODE_SCRIPTS_FILES node_scripts/*.py)
@@ -67,3 +75,8 @@ install(DIRECTORY launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS
 )
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(catkin REQUIRED COMPONENTS roslaunch)
+  roslaunch_add_file_check(launch)
+endif()

dialogflow_task_executive/launch/dialogflow_ros.launch

@@ -1,11 +1,14 @@
 <?xml version="1.0" encoding="utf-8"?>
 <launch>
-  <arg name="launch_dialogflow" default="true" />
   <arg name="use_audio" default="false" />
   <arg name="use_tts" default="true" />
   <arg name="language" default="ja-JP" />
   <arg name="soundplay_action_name" default="robotsound_jp" />
   <arg name="volume" default="1.0" />
+  <arg name="credential" default="$(optenv GOOGLE_APPLICATION_CREDENTIALS false)" doc="Read credentials JSON from this value when use_yaml is false." />
+  <arg name="project_id" default="$(optenv DIALOGFLOW_PROJECT_ID false)"/>
+  <arg name="enable_hotword" default="true" />
+  <arg name="always_publish_result" default="false" doc="Always publish dialog_response topic even the node gets actionlib request." />
 
   <node name="dialogflow_client"
         pkg="dialogflow_task_executive" type="dialogflow_client.py"
@@ -19,6 +22,7 @@
       project_id: $(arg project_id)
       google_cloud_credentials_json: $(arg credential)
       enable_hotword: $(arg enable_hotword)
+      always_publish_result: $(arg always_publish_result)
     </rosparam>
     <rosparam command="load" ns="/dialogflow_client/hotword"
               file="$(find dialogflow_task_executive)/config/dialogflow_hotword.yaml"/>

dialogflow_task_executive/launch/dialogflow_task_executive.launch

@@ -1,9 +1,10 @@
 <launch>
   <arg name="run_app_manager" default="false" />
   <arg name="applist" default="" />
-  <arg name="credential" default="$(optenv GOOGLE_APPLICATION_CREDENTIALS)" doc="Read credentials JSON from this value when use_yaml is false." />
-  <arg name="project_id" default="$(optenv DIALOGFLOW_PROJECT_ID)"/>
+  <arg name="credential" default="$(optenv GOOGLE_APPLICATION_CREDENTIALS false)" doc="Read credentials JSON from this value when use_yaml is false." />
+  <arg name="project_id" default="$(optenv DIALOGFLOW_PROJECT_ID false)"/>
   <arg name="enable_hotword" default="true" />
+  <arg name="always_publish_result" default="false" doc="Always publish dialog_response topic even the node gets actionlib request." />
 
   <!-- options for dialogflow_client -->
   <arg name="launch_dialogflow" default="true" />
@@ -20,22 +21,17 @@
   </node>
 
   <group if="$(arg launch_dialogflow)">
-    <node name="dialogflow_client"
-          pkg="dialogflow_task_executive" type="dialogflow_client.py"
-          output="screen">
-      <rosparam subst_value="true">
-        use_audio: $(arg use_audio)
-        use_tts: $(arg use_tts)
-        language: $(arg language)
-        soundplay_action_name: $(arg soundplay_action_name)
-        volume: $(arg volume)
-        project_id: $(arg project_id)
-        google_cloud_credentials_json: $(arg credential)
-        enable_hotword: $(arg enable_hotword)
-      </rosparam>
-      <rosparam command="load" ns="/dialogflow_client/hotword"
-                file="$(find dialogflow_task_executive)/config/dialogflow_hotword.yaml"/>
-    </node>
+    <include file="$(find dialogflow_task_executive)/launch/dialogflow_ros.launch">
+      <arg name="use_audio" value="$(arg use_audio)" />
+      <arg name="use_tts" value="$(arg use_tts)" />
+      <arg name="language" value="$(arg language)" />
+      <arg name="soundplay_action_name" value="$(arg soundplay_action_name)" />
+      <arg name="volume" value="$(arg volume)" />
+      <arg name="credential" value="$(arg credential)" />
+      <arg name="project_id" value="$(arg project_id)" />
+      <arg name="enable_hotword" value="$(arg enable_hotword)" />
+      <arg name="always_publish_result" value="$(arg always_publish_result)" />
+    </include>
   </group>
 
   <node name="task_executive"

dialogflow_task_executive/msg/DialogResponse.msg

@@ -1,8 +1,15 @@
 Header header
-string action
-string query
-string response
-bool fulfilled
-string parameters
-float32 speech_score
-float32 intent_score
+
+# query: The text send by user
+string query            # The query created by user
+
+# action, response, parameters: The response from Dialogflow
+string action           # Inferred action name, which is registered at Dialogflow config
+                        # Dialogflow has Default Fallback Intent by default, and it returns input.unknown as action name, when it gets unknown queries
+string response         # The response from Dialogflow based on action name
+string parameters       # The action's parameters
+
+# fulfilled, speech_score, intent_score: Parameters related to results
+bool fulfilled          # Whether all required parameters are present
+float32 speech_score    # Speech recognition confidence
+float32 intent_score    # Intent detection confidence

dialogflow_task_executive/node_scripts/dialogflow_client.py

@@ -83,6 +83,10 @@ def __init__(self):
             )
         if self.project_id is None:
             rospy.logerr('project ID is not set')
+        self.pub_res = rospy.Publisher(
+            "dialog_response", DialogResponse, queue_size=1)
+        self.always_publish_result = rospy.get_param(
+            "~always_publish_result", False)
 
     def detect_intent_text(self, data, session):
         query = df.types.QueryInput(
@@ -94,7 +98,7 @@ def detect_intent_text(self, data, session):
     def make_dialog_msg(self, result):
         msg = DialogResponse()
         msg.header.stamp = rospy.Time.now()
-        if result.action != 'input.unknown':
+        if result.action == 'input.unknown':
             rospy.logwarn("Unknown action")
         msg.action = result.action
 
@@ -143,6 +147,8 @@ def cb(self, goal):
             self._as.publish_feedback(feedback)
             result.done = success
             self._as.set_succeeded(result)
+            if df_result and self.always_publish_result:
+                self.pub_res.publish(result.response)
 
 
 class DialogflowAudioClient(DialogflowBase):
@@ -185,9 +191,6 @@ def __init__(self):
         else:
             self.sound_action = None
 
-        self.pub_res = rospy.Publisher(
-            "dialog_response", DialogResponse, queue_size=1)
-
         if self.use_audio:
             self.audio_config = df.types.InputAudioConfig(
                 audio_encoding=df.enums.AudioEncoding.AUDIO_ENCODING_LINEAR_16,

dialogflow_task_executive/package.xml

@@ -22,7 +22,9 @@
   <run_depend>app_manager</run_depend>
   <run_depend>message_runtime</run_depend>
   <run_depend>speech_recognition_msgs</run_depend>
+  <run_depend>topic_tools</run_depend>
   <!-- <run_depend>python-dialogflow-pip</run_depend> install via catkin_virtualenv -->
+  <test_depend>roslaunch</test_depend>
 
   <export>
     <pip_requirements>requirements.txt</pip_requirements>

dialogflow_task_executive/samples/demo.launch

@@ -1,5 +1,5 @@
 <launch>
-  <arg name="google_cloud_credentials_json" default="$(optenv GOOGLE_APPLICATION_CREDENTIALS)" doc="Read credentials JSON from this value when use_yaml is false." />
+  <arg name="google_cloud_credentials_json" default="$(optenv GOOGLE_APPLICATION_CREDENTIALS false)" doc="Read credentials JSON from this value when use_yaml is false." />
   <arg name="project_id" default="eternal-byte-236613" />
   <arg name="run_app_manager" default="true" doc="Run app_manager or not"/>
 

influxdb_store/CMakeLists.txt

@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(influxdb_store)
+
+find_package(catkin REQUIRED)
+
+catkin_python_setup()
+
+catkin_package()
+
+file(GLOB NODE_SCRIPTS_FILES node_scripts/*)
+catkin_install_python(
+  PROGRAMS ${NODE_SCRIPTS_FILES}
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(
+  DIRECTORY launch sample
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS
+)

influxdb_store/README.md

@@ -0,0 +1,161 @@
+# influxdb_store
+
+ROS package for influxdb store
+
+![influxdb_grafana](./.media/influxdb_grafana.png)
+
+## Sample
+
+```bash
+roslaunch influxdb_store influxdb_logger.launch
+```
+
+## Logger
+
+### `joint_states_logger.py`
+
+Logger for `sensor_msgs/JointStates`
+
+#### Subscribing topic
+
+- `~input` (`sensor_msgs/JointStates`)
+
+Joint states topic name
+
+#### Parameters
+
+- `~host` (default: `localhost`)
+
+Influxdb host address
+
+- `~port` (default: `8086`)
+
+Influxdb port number
+
+- `~database` (default: `test`)
+
+Influxdb database name
+
+### `map_transform_logger.py`
+
+Logger for transfrom relative to `map_frame`
+
+#### Parameters
+
+- `~host` (default: `localhost`)
+
+Influxdb host address
+
+- `~port` (default: `8086`)
+
+Influxdb port number
+
+- `~database` (default: `test`)
+
+Influxdb database name
+
+- `~map_frame_id` (default: `map`)
+
+Map frame id
+
+- `~update_rate` (default: `0.5`)
+
+Update rate
+
+### `battery_states_logger.py`
+
+Logger for `pr2_msgs/BatteryServer2`
+
+#### Subscribing topic
+
+- `~input` (`pr2_msgs/BatteryServer2`)
+
+Battery topic name
+
+#### Parameters
+
+- `~host` (default: `localhost`)
+
+Influxdb host address
+
+- `~port` (default: `8086`)
+
+Influxdb port number
+
+- `~database` (default: `test`)
+
+Influxdb database name
+
+### `network_states_logger.py`
+
+Logger for network information published by [`jsk_network_tools/network_status.py`](https://github.com/jsk-ros-pkg/jsk_common/tree/master/jsk_network_tools)
+
+#### Subscribing topic
+
+- `~input/receive` (`std_msgs/Float32`)
+
+receiving bps topic name
+
+- `~input/transmit` (`std_msgs/Float32`)
+
+Transmitting bps topic name
+
+#### Parameters
+
+- `~host` (default: `localhost`)
+
+Influxdb host address
+
+- `~port` (default: `8086`)
+
+Influxdb port number
+
+- `~database` (default: `test`)
+
+Influxdb database name
+
+## For JSK PR2 users
+
+### PR1012
+
+```bash
+rossetip
+rossetmaster pr1012
+roslaunch influxdb_store pr2_influxdb_logger.launch robot_name:=pr1012
+```
+
+### PR1040
+
+```bash
+rossetip
+rossetmaster pr1040
+roslaunch influxdb_store pr2_influxdb_logger.launch robot_name:=pr1040
+```
+
+### Fetch15
+
+```bash
+rossetip
+rossetmaster fetch15
+roslaunch influxdb_store fetch_influxdb_logger.launch robot_name:=fetch15
+```
+
+### Fetch1075
+
+```bash
+rossetip
+rossetmaster fetch1075
+roslaunch influxdb_store fetch_influxdb_logger.launch robot_name:=fetch1075
+```
+
+### Baxter
+
+```bash
+rossetip
+rossetmaster baxter
+roslaunch influxdb_store baxter_influxdb_logger.launch robot_name:=baxter
+```
+
+### Systemctl services
+
+Please see [jsk_database](https://github.com/knorth55/jsk_database).

influxdb_store/launch/fetch_battery_logger.launch

@@ -0,0 +1,17 @@
+<launch>
+  <arg name="host" />
+  <arg name="port" />
+  <arg name="database" />
+  <arg name="battery_states_topic" />
+
+  <node name="battery_states_logger" pkg="influxdb_store" type="fetch_battery_states_logger.py"
+        output="screen" respawn="true" >
+    <remap from="~input" to="$(arg battery_states_topic)" /> 
+    <rosparam subst_value="true">
+      host: $(arg host)
+      port: $(arg port)
+      database: $(arg database)
+    </rosparam>
+  </node>
+
+</launch>