jsk-ros-pkg · mqcmd196 · Oct 20, 2021 · Oct 29, 2021 · Nov 1, 2021 · Nov 1, 2021
diff --git a/google_chat_ros/CMakeLists.txt b/google_chat_ros/CMakeLists.txt
@@ -0,0 +1,52 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(google_chat_ros)
+
+find_package(
+  catkin REQUIRED COMPONENTS
+  rospy
+  actionlib_msgs
+  sensor_msgs
+  std_msgs
+  message_generation
+)
+
+catkin_python_setup()
+
+add_message_files(
+  DIRECTORY msg
+)
+
+add_action_files(
+  FILES
+  SendMessage.action
+)
+
+generate_messages(
+  DEPENDENCIES
+  sensor_msgs
+  std_msgs
+  actionlib_msgs
+)
+
+catkin_package()
+
+include_directories()
+
+# install
+# euslisp
+file(GLOB EUSLISP_SCRIPTS scripts/*.l)
+install(FILES ${EUSLISP_SCRIPTS}
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+# python
+file(GLOB PYTHON_SCRIPTS scripts/*.py)
+catkin_install_python(
+  PROGRAMS ${PYTHON_SCRIPTS}
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# launch
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
diff --git a/google_chat_ros/README.md b/google_chat_ros/README.md
@@ -0,0 +1,67 @@
+# The package for using Google chat services with ROS
+
+## What is this?
+Use Google Chat API with ROS.  
+![Screenshot from 2021-11-01 15-53-27](https://user-images.githubusercontent.com/27789460/139635911-66232c88-d3b9-4d7d-940e-966fbac9d800.png)  
+System components  
+![GoogleChatROS_system](https://user-images.githubusercontent.com/27789460/139635648-4ddbf9da-90e9-4b87-b958-ca996a8ffc4f.png)
+
+## How to use?
+### 1. Create a service account and private key
+See [Google Official Document](https://developers.google.com/chat/how-tos/service-accounts#step_1_create_service_account_and_private_key). Please ensure to get JSON credetial file and save it. DO NOT LOST IT!  
+For JSK members, all keys are available at [Google Drive](https://drive.google.com/drive/folders/1Enbbta5QuZ-hrUWdTjVDEjDJc3j7Abxo?usp=sharing). If you make new  API keys, please upload them here.
+
+### 2. Build ROS workspace
+```bash
+source /opt/ros/${ROS_DISTRO}/setup.bash
+mkdir -p ~/catkin_ws/src && cd ~/catkin_ws/src
+git clone https://github.com/jsk-ros-pkg/jsk_3rdparty
+rosdep install --ignore-src --from-paths . -y -r
+cd ..
+catkin build
+```
+
+### 3. Use google chat ros
+#### 3.1 Run the server
+Execute
+```bash
+roslaunch google_chat_ros google_chat.launch keyfile:=${PATH_TO_keyfile.json}
+```
+and run the action server.
+
+#### 2.2 Run the client
+First, you have to identify your chat room. You can get it from chat room's URL. If it is `https://mail.google.com/chat/u/0/#chat/space/XXXXXXXXXXX`, `XXXXXXXXXXX` becomes the space name.
+##### terminal example
+```bash
+rostopic pub /google_chat_ros/send/goal google_chat_ros/GoogleChatRESTActionGoal "header:
+  seq: 0
+  stamp:
+    secs: 0
+    nsecs: 0
+  frame_id: ''
+goal_id:
+  stamp:
+    secs: 0
+    nsecs: 0
+  id: ''
+goal:
+  space: 'YOUR_SPACE'
+  message_type: 'text'
+  content: 'Hello world from ROS!'"
+```
+##### roseus example
+```lisp
+(load "package://google_chat_ros/scripts/google-chat.l")
+(send-google-chat-message "YOUR_SPACE" "text" "Hello world from eus!")
+```
+
+## Google Chat Message types
+You can set Google Chat message type by setting `message_type` in ros message.
+### text
+Send simple text message.
+### card
+Send Google Chat Card message.
+See [here](https://developers.google.com/chat/api/guides/message-formats/cards) for details.
+
+## Sending Images
+You have to get image's permanent link and attach its url to card type message. To get it, please consider using jsk_3rdparty/gdrive_ros.
diff --git a/google_chat_ros/action/SendMessage.action b/google_chat_ros/action/SendMessage.action
@@ -0,0 +1,12 @@
+# Define the goal
+string text
+google_chat_ros/Card[] cards
+string thread_name
+string space
+google_chat_ros/Attachment[] attachments
+---
+# Define the result
+bool done
+---
+# Define a feedback message
+string status
diff --git a/google_chat_ros/launch/google_chat.launch b/google_chat_ros/launch/google_chat.launch
@@ -0,0 +1,21 @@
+<launch>
+  <arg name="recieving_mode" default="url" doc="Google Chat API settings. Choose from url, dialogflow."/>
+  <arg name="download_data" default="true" />
+  <arg name="download_data_timeout" default="10" />
+  <arg name="download_directory" default="/tmp" />
+  <arg name="download_avatar" default="false" />
+  <arg name="yaml_file" default="" doc="Yaml file of web settings."/>
+  <arg name="respawn" default="true" />
+
+  <node name="google_chat_ros" pkg="google_chat_ros" type="google_chat_ros_server.py"
+        respawn="$(arg respawn)" output="screen">
+    <rosparam command="load" file="$(arg yaml_file)" />
+    <rosparam subst_value="true">
+      recieving_mode: $(arg recieving_mode)
+      download_data_timeout: $(arg download_data_timeout)
+      download_data: $(arg download_data)
+      download_directory: $(arg download_directory)
+      download_avatar: $(arg download_avatar)
+    </rosparam>
+  </node>
+</launch>
diff --git a/google_chat_ros/msg/ActionParameter.msg b/google_chat_ros/msg/ActionParameter.msg
@@ -0,0 +1,2 @@
+string key
+string value
diff --git a/google_chat_ros/msg/Annotation.msg b/google_chat_ros/msg/Annotation.msg
@@ -0,0 +1,8 @@
+int32 length
+int32 start_index
+google_chat_ros/User user
+## START AnnotationType ##
+bool mention
+bool slash_command
+### END AnnotationType ###
+google_chat_ros/SlashCommand command
diff --git a/google_chat_ros/msg/Attachment.msg b/google_chat_ros/msg/Attachment.msg
@@ -0,0 +1,10 @@
+string name
+string content_name
+string content_type
+string thumnail_uri
+string download_uri
+string localpath
+bool drive_file
+bool uploaded_content
+string attachment_resource_name
+string drive_field_id
diff --git a/google_chat_ros/msg/Button.msg b/google_chat_ros/msg/Button.msg
@@ -0,0 +1,10 @@
+### FIELD DATA CAN BE ONLY ONE OF THE TEXT BUTTON OR IMAGE BUTTON ###
+# A button with text and onclick action
+string text_button_name 
+google_chat_ros/OnClick text_button_on_click
+# An image button with an onclick action
+string image_button_name
+google_chat_ros/OnClick image_button_on_click
+string icon # see https://developers.google.com/chat/api/reference/rest/v1/cards#icon
+string original_icon_url # Original icon image's url
+string original_icon_filepath # Original icon
diff --git a/google_chat_ros/msg/Card.msg b/google_chat_ros/msg/Card.msg
@@ -0,0 +1,4 @@
+google_chat_ros/CardHeader header # The header of the card
+google_chat_ros/Section[] sections # Sections are separated by a line divider
+google_chat_ros/CardAction[] card_actions # The actions of this card
+string name # Name of the card
diff --git a/google_chat_ros/msg/CardAction.msg b/google_chat_ros/msg/CardAction.msg
@@ -0,0 +1,2 @@
+string action_label # The label used to be displayed in the action menu item
+google_chat_ros/OnClick on_click
diff --git a/google_chat_ros/msg/CardEvent.msg b/google_chat_ros/msg/CardEvent.msg
@@ -0,0 +1,5 @@
+string event_time
+google_chat_ros/Space space
+google_chat_ros/Message message # TODO:check is it required
+google_chat_ros/User user
+google_chat_ros/FormAction action
diff --git a/google_chat_ros/msg/CardHeader.msg b/google_chat_ros/msg/CardHeader.msg
@@ -0,0 +1,5 @@
+string title
+string subtitle
+bool image_style_circular # The image's type, makes border
+string image_url
+string image_filepath # The image in the card header
diff --git a/google_chat_ros/msg/FormAction.msg b/google_chat_ros/msg/FormAction.msg
@@ -0,0 +1,3 @@
+# The form action data associated with an interactive card that was clicked. Only populated for CARD_CLICKED events.
+string action_method_name
+google_chat_ros/ActionParameter[] parameters
diff --git a/google_chat_ros/msg/Image.msg b/google_chat_ros/msg/Image.msg
@@ -0,0 +1,4 @@
+string image_url
+string localpath # If you want to upload new image on google drive, please set this element, not image_uri.
+google_chat_ros/OnClick on_click
+float64 aspect_ratio # The aspect ratio of this image (width/height). If unset, the server fills it by prefetching the image
diff --git a/google_chat_ros/msg/KeyValue.msg b/google_chat_ros/msg/KeyValue.msg
@@ -0,0 +1,9 @@
+string top_label # The text of the top label
+string content # The text of the content. Always required
+bool content_multiline # If the content should be multiline
+string bottom_label # The text of the bottom label
+google_chat_ros/OnClick on_click
+string icon # see https://developers.google.com/chat/api/reference/rest/v1/cards#icon
+string original_icon_url # Original icon image's url
+string original_icon_localpath # If you want to upload new image on google drive, please set this element, not original_icon_url.
+google_chat_ros/Button button # A button that can be clicked to trigger an action
diff --git a/google_chat_ros/msg/Message.msg b/google_chat_ros/msg/Message.msg
@@ -0,0 +1,8 @@
+string name # Resource name in form spaces/*/messages/*
+google_chat_ros/User sender # The user who created the message
+string create_time # The time at which the message was created in Google Chat server
+string text # Plain-text body of the message
+string thread_name # The thread the message belongs to
+google_chat_ros/Annotation[] annotations # Annotations associated with the plain-text body of the message
+string argument_text # Plain-text body of the message with all bot mentions stripped out
+google_chat_ros/Attachment[] attachments # User uploaded attachment
diff --git a/google_chat_ros/msg/MessageEvent.msg b/google_chat_ros/msg/MessageEvent.msg
@@ -0,0 +1,5 @@
+# ROS message for recieving Google Chat message
+string event_time
+google_chat_ros/Space space
+google_chat_ros/Message message
+google_chat_ros/User user
diff --git a/google_chat_ros/msg/OnClick.msg b/google_chat_ros/msg/OnClick.msg
@@ -0,0 +1,3 @@
+### FIELD DATA CAN BE ONLY ONE OF THE FOLLOWING ###
+google_chat_ros/FormAction action # A form action will be triggered by this onclick if specified
+string open_link_url # A link that opens a new window
diff --git a/google_chat_ros/msg/Section.msg b/google_chat_ros/msg/Section.msg
@@ -0,0 +1,2 @@
+string header # The header of the section
+google_chat_ros/WidgetMarkup[] widgets
diff --git a/google_chat_ros/msg/SlashCommand.msg b/google_chat_ros/msg/SlashCommand.msg
@@ -0,0 +1,6 @@
+google_chat_ros/User user
+bool added
+bool invoke
+string command_name
+string command_id
+bool triggers_dialog
diff --git a/google_chat_ros/msg/Space.msg b/google_chat_ros/msg/Space.msg
@@ -0,0 +1,4 @@
+string name
+string display_name
+bool room # is chat room
+bool dm # is direct message
diff --git a/google_chat_ros/msg/SpaceEvent.msg b/google_chat_ros/msg/SpaceEvent.msg
@@ -0,0 +1,5 @@
+bool added
+bool removed
+string event_time
+google_chat_ros/Space space
+google_chat_ros/User user
diff --git a/google_chat_ros/msg/User.msg b/google_chat_ros/msg/User.msg
@@ -0,0 +1,7 @@
+string name
+string display_name
+string avatar_url
+uint8[] avatar
+string email
+bool bot
+bool human
diff --git a/google_chat_ros/msg/WidgetMarkup.msg b/google_chat_ros/msg/WidgetMarkup.msg
@@ -0,0 +1,4 @@
+google_chat_ros/Button[] buttons
+string text_paragraph # Display a text paragraph in this widget
+google_chat_ros/Image image # Display an image in this widget
+google_chat_ros/KeyValue key_value # Display a key value item in this widget
diff --git a/google_chat_ros/package.xml b/google_chat_ros/package.xml
@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>google_chat_ros</name>
+  <version>2.1.25</version>
+  <description>Use Google Chat API clients via ROS</description>
+
+  <author email="obinata@jsk.imi.i.u-tokyo.ac.jp">Yoshiki Obinata</author>
+  <maintainer email="k-okada@jsk.t.u-tokyo.ac.jp">Kei Okada</maintainer>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
+
+  <build_depend>message_generation</build_depend>
+
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-googleapi</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-googleapi</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>python-httplib2</exec_depend>
+  <exec_depend>python-oauth2client</exec_depend>
+  <exec_depend>python-flask</exec_depend>
+  <exec_depend>python-gdown</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>dialogflow_task_executive</exec_depend>
+  <exec_depend>gdrive_ros</exec_depend>
+
+  <export>
+  </export>
+</package>
diff --git a/google_chat_ros/scripts/google-chat.l b/google_chat_ros/scripts/google-chat.l
@@ -0,0 +1,22 @@
+#!/usr/bin/env roseus
+
+(ros::load-ros-manifest "google_chat_ros")
+(ros::roseus "google_chat_eus_client")
+
+(defun send-google-chat-message (space content &key (message-type "text") (topic-name "google_chat_ros/send") (wait nil))
+  (when (boundp 'google_chat_ros::SendMessageAction)
+    (let ((goal (instance google_chat_ros::SendMessageActionGoal :init))
+          (ac (instance ros::simple-action-client :init
+                        topic-name google_chat_ros::SendMessageAction)))
+      (when (send ac :wait-for-server 1)
+        (when (eq (send ac :get-state) actionlib_msgs::GoalStatus::*active*)
+          (send ac :cancel-goal)
+          (send ac :wait-for-result :timeout 5))
+        (send goal :goal :space space)
+        (send goal :goal :message_type message-type)
+        (send goal :goal :content content)
+        (send ac :send-goal goal)
+        (if wait
+            (return-from send-google-chat-message (send ac :wait-for-result :timeout 5))
+            (return-from send-google-chat-message t)))))
+)