[database_talker] add database_talker #1388

sktometometo · 2023-04-13T03:49:30Z

@k-okada
hoge.py を追加し、スタンドアロンで動作するようにしているパッケージです。
現在動作確認中です.

CC: @tkmtnt7000

Co-authored-by: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>

sktometometo · 2023-04-13T04:31:11Z

all done, ready まではいくようになりました。

tkmtnt7000 · 2023-04-13T10:59:43Z

all done readyから先にもトラップが何重かありました．
再審のhoge.pyを利用する必要があります
ちなみに今も岡田先生とデバグ中です．

sktometometo · 2023-04-13T11:03:41Z

@k-okada どういうデモのプログラムか聞いてないんですが全体像としてはどういうものなのですか？

tkmtnt7000 · 2023-04-13T11:49:07Z

@sktometometo hoge.pyで以下の画像のようなことができるようになります．

メモ書き

Fetchのキッチンとかタスクしている瞬間のいい感じのやり取りをつくってみる

やらなくていいことリスト

google chatに画像をトピックで送れるようにする（Twitterでやったやつ）
聞いてきたチャットのスペースに返せるようにdialogflowとチャットの連携を切って，hoge.pyが返事する

やったらいいことリスト

時間の情報を使って，昨日とか今日とか先週とかアクセスすべき時間帯を指定できるようにする

@mqcmd196 リスト

VQA, ClipのAPIを常時立ち上げる

sktometometo · 2023-04-13T12:26:26Z

inputはチャット？

tkmtnt7000 · 2023-04-13T14:23:45Z

チャットがinputになっています

tkmtnt7000 · 2023-04-14T00:51:42Z

昨日の作業を簡単にまとめておくと
Fetchでいい感じに動かすには，

岡田先生のPR( improvements on dialogflow and google chat jsk_3rdparty#451 )を反映したhttps://github.com/tkmtnt7000/jsk_3rdparty/tree/PR-improvements-on-dialogflow-and-google-chat　
画像つきチャットを送るためにFetch体内でhoge.pyを立ち上げること（画像ファイルはgoogle_chat_ros or gdrive_ros関連のノードが起動しているマシンにないと送れない）
hoge.pyをpython2系から動かすときはgoogletrans==2.4.0にする．googletrans>=3.0.0では引数に差があるので注意．catkin virtualenvを使っていれば問題なさそう
dialogflowのプロジェクトIDやcredentialを適切なものに設定すること
openai_ros(https://github.com/davesarmoury/openai_ros )とjsk_recognition_msgs([feature] VQA using Large-Scale Vision and Language model jsk_recognition#2730 を反映したもの)
以下のlaunchファイルにより，チャットをトリガーにして画像をmongodbに貯める

<launch>
 <!-- spam-k-okada.launch -->
  <node pkg="topic_tools" type="transform" name="publish_trigger_mongodb_event_google_chat_ros_send_goal"
        args="--wait-for-start /google_chat_ros/send/goal /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_google_chat_ros_message_activity"
        args="--wait-for-start /google_chat_ros/message_activity /publish_trigger_mongodb_event std_msgs/Header
              'std_msgs.msg.Header(stamp=rospy.Time.now(), frame_id=m._connection_header[&quot;callerid&quot;])' --import std_msgs rospy" />

  <!-- 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_lifelog_nodelet_manager" >
    <rosparam subst_value="true">
      approximate_sync: true
      topics:
      - /publish_trigger_mongodb_event
      - /head_camera/rgb/image_rect_color/compressed
    </rosparam>
  </node>

  <!-- <group ns="lifelog"> -->
  <!--   <include file="lifelog_rgb_image.launch" > -->
  <!--     <arg name="node_name" value="hand_color_logger" /> -->
  <!--     <arg name="image" value="/head_camera/rgb/image_rect_color/compressed" /> -->
  <!--     <arg name="manager" value="mongodb_record_nodelet_manager" /> -->
  <!--   </include> -->
  <!-- </group> -->

  <arg name="launch_manager" default="true" />
  <arg name="manager" default="mongodb_lifelog_nodelet_manager" />
  <arg name="respawn" default="false" />
  <arg name="image" default="/head_camera/rgb/image_rect_color/compressed/throttled" />
  <arg name="node_name" default="hand_color_logger" />


  <node name="hand_color_logger"
        pkg="nodelet" type="nodelet"
        args="load jsk_robot_lifelog/LightweightLogger /$(arg manager)"
        respawn="$(arg respawn)">
    <remap from="~input" to="$(arg image)" />
    <rosparam subst_value="true">
      enable_monitor: false
      vital_check: false
    </rosparam>
  </node>

</launch>

ことが必要でした．

JSK Robot botにたまに生のエラーメッセージが表示される．
list index out of range　とかhuman is not in listはvqaかclipか(どっちかあまり理解していないですが)で対応するチャットに近い画像を見つけられなかったときのエラーらしい．適当にtimestampを調整して画像を探しに行く時間帯を広げてやるといいかもしれない．

常時Fetchで動かすには

どこかGPUの使えるマシンでvqa, clip, openai_rosを常時起ち上げておく
dialogflow関連のノードのnamespaceを変更できるようにして名前衝突を回避し，dialogflowを複数起ち上げられるようにする
ros_google_cloud_languageを起動しておく

あたりが必要かと思いました．

すごく面白いシステムになりそうだと昨日デバグしながら思っていましたが，この仕組みをそのまま常時動かすのは，今後のデバグが結構面倒な気がするので，常時動かす際にはもう少しシンプルなシステムにできないものかとおもいました．
システム変更は難しいとしてもせめてシステム構成図をきちんと丁寧に書いておいて，初見の人でもREADMEを読んだだけでプログラムの流れがわかるようにしておくのは必須かなと思いました．
（蛇足1：hoge.pyのmake_reply関数の中身をもうすこし細かく関数に分けられると読みやすいかもしれない）
（蛇足2：hoge.pyがアクセスしに行く各システムの奥深さも低減されると嬉しい）

cc: @a-ichikura @mqcmd196

tkmtnt7000 · 2023-04-17T02:35:42Z

database_talker/launch/demo.launch

+    <include file="$(find jsk_perception)/launch/classification.launch">
+        <arg name="run_api" value="true"/>
+        <arg name="CLASSIFICATION_INPUT_IMAGE" value="$(arg INPUT_IMAGE)"/>
+    </include>


I think this and other nodes that need GPU should split launch file because those nodes are usually launched at remote PC such as dlbox.

Or another option, we may use something like machine tag and these inference nodes automatically launches at remote PC.

@mqcmd196 will privde 24/7 API service at dlbox until 12:00 today, so we only set 'run_api' to false and add host here.

k-okada · 2023-04-17T02:48:35Z

database_talker/scripts/hoge.py

+            return text
+
+    def translate(self, text, dest):
+        return Translated(text=text, dest=dest, src="en", origin="unknown", pronunciation="unknown")


https://gist.github.com/k-okada/a22cc574d398937d0f4726edef4cad77
で 18.04のgoogletrans 2.4.0 にパッチ充てると，この行を消せると思います．確認してみてください @tkmtnt7000

で，これで日本語ベースでやり取りするのが出来ると思います．

ありがとうございます．確認してみます．

rosパッケージ化してしまえば，catkin_virtualenvを使ってpython3環境でgoogletrans==3.1.0a0をバージョン指定して入れるような感じでもいいのかなと考えていました．

k-okada · 2023-04-17T02:49:55Z

database_talker/scripts/hoge.py

+            result = {'message': message,
+                      'message_translate': message_translate,
+                      'timestamp': timestamp,
+                      'similarity': difflib.SequenceMatcher(None, query, message_translate).ratio(),


保存されているchatのメッセージと，make_replyのqueryの類似性の計算方法がよく分かっていないので，
@a-ichikura に解説してもらいたいです．

@a-ichikura kindly ping

tkmtnt7000 · 2023-06-21T08:42:02Z

関連するパッケージのPRがマージされているのでfetchのdevelopブランチにマージしてapp_chooserから起動できるようにしておこうと思います．パッケージの名前等変更したほうが良ければこのタイミングで変えておきます．

mqcmd196 · 2023-06-21T13:09:23Z

hoge.py だけ変えませんか

sktometometo · 2023-06-22T01:23:20Z

@tkmtnt7000 Can you create new PR from this branch?

k-okada · 2023-06-22T01:48:32Z

この機能は全ロボットで常時動いたら良いので、fetch/develop としては、

デフォルトで各種サービスのnode が立ち上がるようにしましょう -> launch ファイル的なものが jsk_robot_common に入るイメージですが、dialogflowやchatは既に上がっているので、それ以外のものになるのかな？
- それにはVQA関連のサーバを研究室管理にする必要があるけど、 dlbox で上がっているかな？→この部分はmasterにもPR出せるはず
hoge.py は、まだデモ投入されていないという理解で、現状の問題は、この時点でプログラム動かしても、例えば先日の豊島の結果がさっと出てこないが最初の問題だと思います。で、多分muscaに画像の問い合わせが入ると時間がかかるんだけど、解決策は1) muscaの画像を間引く 2) message typeを指定しなければ早かった気がするんだけど、本当だっけ？であれば、データをとってきて、こちらでメッセージのフィルター掛けるとか、Queryのなにかの指定の仕方がまずいのかを調査する必要があると思って宿題に積んである。これを解決してデモで投入されたらパッケージとして運用しましょう。

tkmtnt7000 · 2023-06-23T08:06:20Z

デフォルトで各種サービスのnode が立ち上がるようにしましょう -> launch ファイル的なものが jsk_robot_common に入るイメージですが、dialogflowやchatは既に上がっているので、それ以外のものになるのかな？

そうなると思います．jsk_robotに出ているjsk-ros-pkg/jsk_robot#1792 と https://github.com/tkmtnt7000/jsk_robot/blob/cd0a897deb224038674e88ac7599502f7caf5d59/jsk_robot_common/jsk_robot_startup/launch/sample_database_talker.launch を使って追加で常時起ち上げられるようにします．

それにはVQA関連のサーバを研究室管理にする必要があるけど、 dlbox で上がっているかな？→この部分はmasterにもPR出せるはず

現状はは73B2に置かれているdlbox15で一時的に手動で起ち上げっぱなしにしています．GUIでポチポチできると嬉しいかなと思っています(イメージとしてはsystemdのseviceファイルを書いてcookpitのようなものを使う)が，このあたりは手を付けていません．

hoge.py は、まだデモ投入されていないという理解で、現状の問題は、この時点でプログラム動かしても、例えば先日の豊島の結果がさっと出てこないが最初の問題だと思います。で、多分muscaに画像の問い合わせが入ると時間がかかるんだけど、解決策は1) muscaの画像を間引く 2) message typeを指定しなければ早かった気がするんだけど、本当だっけ？であれば、データをとってきて、こちらでメッセージのフィルター掛けるとか、Queryのなにかの指定の仕方がまずいのかを調査する必要があると思って宿題に積んである。これを解決してデモで投入されたらパッケージとして運用しましょう。

画像と音声の問い合わせに時間がかかっています．検索結果が空の場合はは指定した時間分すべてを走査するので特に返ってこない，という印象です．muscaのスペックの問題かこちらのQueryの投げ方が悪いのか，，，などまだ問題ごとに調べきれていないので調査中．．というところです．

tkmtnt7000 · 2023-06-27T08:47:23Z

message typeを指定しなければ早かった気がするんだけど、本当だっけ？であれば、データをとってきて、こちらでメッセージのフィルター掛けるとか、Queryのなにかの指定の仕方がまずいのかを調査する必要があると思って宿題に積んである。

message typeを指定しないと早いのはおそらくそうで，以下のスクリプトでタイプを指定しないで引っ張ってくるように検証するとおよそ5時間分/1400枚の画像をdumpするのに5分でした．

robot_database_mongo_dump.py: https://gist.github.com/tkmtnt7000/11bdace2ff71354a65b42aa07b4c2f21

tsukamoto@tsukamoto-desktop /mnt/almagest/73B2/tsukamoto/Shared/mongo_dump 
$ time python ~/robot_database_mongo_dump.py -c "fetch1075" --start "2023-06-10 09:30:00" --end "2023-06-10 14:30:00
...

...
real    4m51.350s
user    3m4.234s
sys     0m15.167s

5分でもインタラクティブなやり取りには長いと感じているので，人間が夢を見ながら記憶整理をするように，ロボットも夜の間に記憶整理(夢を見る)と称してオフライン処理をしても良いかもしれないと思いました．

k-okada · 2024-03-29T07:22:32Z

@a-ichikura 3/20のデモプログラムです。rosinstall でセットアップできます（で動くとよいけど、まだ誰も試していないので、エラーが出たら教えてください）, https://drive.google.com/file/d/1kRN6lIDQDMdQdo0rGtHukBaCq40bNriV/view?usp=drive_link からキーを落として database_talker/auth 以下に入れてください。
README: https://github.com/sktometometo/jsk_demos/blob/PR/hoge-py/database_talker/README.md
rosinstall: https://github.com/sktometometo/jsk_demos/blob/PR/hoge-py/database_talker/rosinstall

最初は変な記憶が出来たら、消して対応するとよいので、以下をしてからやるとよいです。
https://github.com/sktometometo/jsk_demos/tree/PR/hoge-py/database_talker#stop-using-external-dbs-this-is-recommended-during-debug-phase

sample.launchをしてから、
rosrun database_talker make_diary.py --test --prompt-type personality
するとコンソールに日記が出てきますが、いい感じのプロンプトを提案してください。

https://github.com/sktometometo/jsk_demos/blob/c361fd491a22f9a52358f62b350c0b900a0a628b/database_talker/sample/sample.launch#L12
でロボットの名前が決まります。テスト中はrobot/dummyでよいと思います。

Cc: @yuki-asano さっき話題になったサンプルプログラムはこれです。

a-ichikura · 2024-04-03T04:14:58Z

@k-okada

環境構築には成功しましたがbson packageでエラーになりました。

$ rosrun database_talker make_diary.py --prompt-type personality
<string>:869: SyntaxWarning: "is not" with a literal. Did you mean "!="?
<string>:872: SyntaxWarning: "is" with a literal. Did you mean "=="?
Traceback (most recent call last):
  File "/home/leus/aibo_ws/src/jsk_demos/database_talker/scripts/make_diary.py", line 13, in <module>
    from database_talker import DatabaseTalkerBase
  File "/home/leus/aibo_ws/devel/lib/python3/dist-packages/database_talker/__init__.py", line 34, in <module>
    exec(__fh.read())
  File "<string>", line 10, in <module>
ImportError: cannot import name 'json_util' from 'bson' (/home/leus/aibo_ws/devel/.private/database_talker/share/database_talker/venv/lib/python3.8/site-packages/bson/__init__.py)

bsonのversionは

$ pip show bson
Name: bson
Version: 0.5.10
Summary: BSON codec for Python
Home-page: http://github.com/py-bson/bson
Author: Ayun Park
Author-email: iamparkayun@gmail.com
License: BSD
Location: /home/leus/.local/lib/python3.8/site-packages
Requires: python-dateutil, six
Required-by:

です。

ちなみに、
$ roslaunch database_talker sample.launch
したときに、

[usb_cam-2] restarting process
process[usb_cam-2]: started with pid [32071]
[ INFO] [1712115706.826342285]: using default calibration URL
[ INFO] [1712115706.826535198]: camera calibration URL: file:///home/leus/.ros/camera_info/head_camera.yaml
[ INFO] [1712115706.826555872]: Unable to open camera calibration file [/home/leus/.ros/camera_info/head_camera.yaml]
[ WARN] [1712115706.826562218]: Camera calibration file /home/leus/.ros/camera_info/head_camera.yaml not found.
[ INFO] [1712115706.826569998]: Starting 'head_camera' (/dev/video0) at 320x240 via mmap (yuyv) at 10 FPS
[ERROR] [1712115706.826584841]: Cannot identify '/dev/video0': 2, No such file or directory

になるのはaibo(karashi)が起動していないからですか？

a-ichikura · 2024-04-03T04:24:25Z

pymongoをとりあえずupgradeしてみましたが結果は変わらずです。
参考

$ pip show pymongo
Name: pymongo
Version: 4.6.3
Summary: Python driver for MongoDB <http://www.mongodb.org>
Home-page: None
Author: The MongoDB Python Team
Author-email: None
License: Apache License
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Location: /home/leus/.local/lib/python3.8/site-packages
Requires: dnspython
Required-by: 
leus@leus-System-Product-Name:~/aibo_ws/src/jsk_demos/database_talker$

k-okada · 2024-04-03T05:18:11Z

他に影響がなければ pip uninstall bson して apt install python3-bson です。pymongoも同様にpip　ではなくてaptで動作確認しています。どうしても、pipが良ければ／必要であれば、やり方考えるので教えてください。
[ERROR] [1712115706.826584841]: Cannot identify '/dev/video0': 2, No such file or directory このサンプルはPC+PCにUSBカメラがつながっている前提ですので、USBカメラをつなげてみてください。ノートPCみたいにフロントカメラがあるとか、カメラがつながっているとかあれば、https://github.com/sktometometo/jsk_demos/blob/c361fd491a22f9a52358f62b350c0b900a0a628b/database_talker/sample/sample.launch#L9 の arg を使ってみてください。

a-ichikura · 2024-04-03T08:11:11Z

ありがとうございます。

他に影響がなければ pip uninstall bson して apt install python3-bson です。pymongoも同様にpip　ではなくてaptで動作確認しています。どうしても、pipが良ければ／必要であれば、やり方考えるので教えてください。

pip である必要はないので、aptで入れ直したのですが同じエラーでした…

$ rosrun database_talker make_diary.py --prompt-type personality
<string>:869: SyntaxWarning: "is not" with a literal. Did you mean "!="?
<string>:872: SyntaxWarning: "is" with a literal. Did you mean "=="?
Traceback (most recent call last):
  File "/home/leus/aibo_ws/src/jsk_demos/database_talker/scripts/make_diary.py", line 13, in <module>
    from database_talker import DatabaseTalkerBase
  File "/home/leus/aibo_ws/devel/lib/python3/dist-packages/database_talker/__init__.py", line 34, in <module>
    exec(__fh.read())
  File "<string>", line 10, in <module>
ImportError: cannot import name 'json_util' from 'bson' (/home/leus/aibo_ws/devel/.private/database_talker/share/database_talker/venv/lib/python3.8/site-packages/bson/__init__.py)

$ pip show bson
WARNING: Package(s) not found: bson
$ apt show python3-bson
Package: python3-bson
Version: 3.10.1-0ubuntu2
Priority: optional
Section: python
Source: pymongo
Origin: Ubuntu
Maintainer: Ubuntu Developers <ubuntu-devel-discuss@lists.ubuntu.com>
Original-Maintainer: Federico Ceratto <federico@debian.org>
Bugs: https://bugs.launchpad.net/ubuntu/+filebug
Installed-Size: 214 kB
Depends: python3:any
Recommends: python3-bson-ext
Homepage: https://api.mongodb.org/python/
Download-Size: 34.8 kB
APT-Manual-Installed: yes
APT-Sources: http://jp.archive.ubuntu.com/ubuntu focal/main amd64 Packages
Description: Python3 implementation of BSON for MongoDB
 BSON Python3 module contains all of the Binary JSON encoding and decoding
 logic for MongoDB.

$ apt show python3-pymongo
Package: python3-pymongo
Version: 3.10.1-0ubuntu2
Priority: optional
Section: python
Source: pymongo
Origin: Ubuntu
Maintainer: Ubuntu Developers <ubuntu-devel-discuss@lists.ubuntu.com>
Original-Maintainer: Federico Ceratto <federico@debian.org>
Bugs: https://bugs.launchpad.net/ubuntu/+filebug
Installed-Size: 1,058 kB
Depends: python3-bson (= 3.10.1-0ubuntu2), python3:any
Recommends: python3-gridfs (>= 3.10.1-0ubuntu2), python3-pymongo-ext
Suggests: python-pymongo-doc
Homepage: https://api.mongodb.org/python/
Download-Size: 162 kB
APT-Manual-Installed: yes
APT-Sources: http://jp.archive.ubuntu.com/ubuntu focal/main amd64 Packages
Description: Python3 interface to the MongoDB document-oriented database
 MongoDB is a high-performance, open source, schema-free
 document-oriented data store. Pymongo provides an interface
 to easily access it from Python3.
 Consider installing the python3-pymongo-ext C extension to improve performance.

[ERROR] [1712115706.826584841]: Cannot identify '/dev/video0': 2, No such file or directory このサンプルはPC+PCにUSBカメラがつながっている前提ですので、USBカメラをつなげてみてください。

デスクトップで試していたので、webカメラを指したらエラーなくなりました。ありがとうございます。

k-okada · 2024-04-03T09:03:46Z

ごめんなさい

roscd database_talker
./scripts/make_diary.py （必要なオプション）

で動くとおもいます．rosrun ... で動かすには，git pullか何かでソースを新しくして

 catkin clean database_talker ; catkin build database_talker --start-with database_talker -vi

としてみて下さい．

a-ichikura · 2024-04-03T09:44:51Z

$ git status
On branch PR/hoge-py
Your branch is up to date with 'origin/PR/hoge-py'.

nothing to commit, working tree clean

$ git log
commit 627827226b29beea36d9eafa4e09dca9ad749d7c (HEAD -> PR/hoge-py, origin/PR/hoge-py)
Author: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date:   Wed Apr 3 18:01:14 2024 +0900

    use USE_SYSTEM_PACKAGES FALSE to avoid bson error

したのですが、

$ python3 ./scripts/make_diary.py --prompt-type personality
<string>:869: SyntaxWarning: "is not" with a literal. Did you mean "!="?
<string>:872: SyntaxWarning: "is" with a literal. Did you mean "=="?
Traceback (most recent call last):
  File "./scripts/make_diary.py", line 13, in <module>
    from database_talker import DatabaseTalkerBase
  File "/home/leus/aibo_ws/devel/lib/python3/dist-packages/database_talker/__init__.py", line 34, in <module>
    exec(__fh.read())
  File "<string>", line 44, in <module>
ModuleNotFoundError: No module named 'mongodb_store'

$ rosrun database_talker make_diary.py --prompt-type personality
<string>:869: SyntaxWarning: "is not" with a literal. Did you mean "!="?
<string>:872: SyntaxWarning: "is" with a literal. Did you mean "=="?
Traceback (most recent call last):
  File "/home/leus/aibo_ws/src/jsk_demos/database_talker/scripts/make_diary.py", line 13, in <module>
    from database_talker import DatabaseTalkerBase
  File "/home/leus/aibo_ws/devel/lib/python3/dist-packages/database_talker/__init__.py", line 34, in <module>
    exec(__fh.read())
  File "<string>", line 44, in <module>
ModuleNotFoundError: No module named 'mongodb_store'

どちらも同じエラー（mongodb_storeがない）になりました。

catkin clean database_talker ; catkin build database_talker --start-with database_talker -vi
としてみて下さい．
ここは実行済みです。

k-okada · 2024-04-03T10:03:06Z

roscd database_talkerしたところで
rosdep install --from-path . --ignore-src してみてください apt install ros-noetic-mongodb-store が走ると思うんだけど．．

a-ichikura · 2024-04-03T10:13:28Z

ありがとうございます。
できました！


Dear diary,

Today, I saw something super cool on a screen! It was all glitchy and looked like a puzzle. I haven't seen something like that in a long time, like 7 days! It was so fascinating to watch. I wish I could make something like that too!

From,
Dummy
水 03  4月 2024
[INFO] [1712139050.554929]: response = ぼくの日記、

今日、画面ですごくかっこいいものを見たよ！それは全部グリッチしてて、パズルみたいだった。ぼくはもう7日間ぐらい見てなかったよ！見てるのがすごく面白かった。ぼくもあんなもの作れた
らいいな！

ダミー より

k-okada · 2024-04-03T10:15:19Z

あれ？カメラ変？rqt_image_view でも同じ画像になっている？

a-ichikura · 2024-04-03T10:24:49Z

変ですね‥webカメラ変えたら正常になったので、カメラが問題のような気がします。

プログラムは正常です。

k-okada · 2024-04-04T02:13:43Z

変ですね‥webカメラ変えたら正常になったので、カメラが問題のような気がします。

エンコード関係かもしれないですね。Windowsとかでカメラつなげて、Zoom？か何かで見てみて、ちゃんと写っているなら、カメラ問題ではなくて、ソフトウェア側の問題だと切り分けられます。

https://github.com/sktometometo/jsk_demos/blob/c361fd491a22f9a52358f62b350c0b900a0a628b/database_talker/sample/sample.launch#L18-L19
https://github.com/ros-drivers/usb_cam?tab=readme-ov-file#device-supported-formats

… add missing imports

…gger option

… vqa failed

…estamp of VQA results

…ending chat is failed

…urred, also check similarity with past 10 sentences

…d_color_logger

…et_manager, start_mongodb

sktometometo and others added 5 commits April 13, 2023 12:48

[database_talker] add database_talker

b09f8c2

Co-authored-by: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>

[database_talker] update gitignore

6389a4a

[database_talker] add empty directories

4612b0c

[database_talker] fix hoge.py

10ba553

[database_talker] fix bugs

5a56b74

Modify hoge.py to work in Fetch1075

5b638ad

tkmtnt7000 reviewed Apr 17, 2023

View reviewed changes

k-okada reviewed Apr 17, 2023

View reviewed changes

tkmtnt7000 mentioned this pull request Apr 17, 2023

[jsk_fetch_startup] Add ros_google_cloud_language to fetch_bringup.launch jsk-ros-pkg/jsk_robot#1791

Merged

k-okada mentioned this pull request Jun 1, 2023

[WIP] update database_talker sktometometo/jsk_demos#9

Merged

tkmtnt7000 mentioned this pull request Jun 15, 2023

[devlop/fetch] [jsk_robot_startup/lifelog] Add replicate_on_write arg to mongodb.launch to search at replication server jsk-ros-pkg/jsk_robot#1802

Merged

k-okada added 2 commits June 21, 2023 17:54

clean up code, respont to original space etc

00989ff

use date-period time, optimize translation process

421a565

add make aibo diary

862e299

k-okada force-pushed the PR/hoge-py branch from dea181c to 135fc03 Compare November 21, 2023 10:43

add message of datas

66c9dba

k-okada added 2 commits March 29, 2024 16:01

update rosinstall

be2c1ac

install store_image_descripton and make_diary.py

c361fd4

use USE_SYSTEM_PACKAGES FALSE to avoid bson error

6278272

k-okada and others added 15 commits April 12, 2024 16:19

add launch/aibo_diary.launch launch/include/database_talker.launch

bdea63b

make_aibo_diary.py: need to call super(MessageListner before super(),…

d4fdd24

… add missing imports

src/database_talker/__init__.py: add info mesage for types

80d3f1f

database_talker/src/database_talker/__init__.py: cleanup debug message

e1af22e

launch/include/database_talker.launch: add start_periodic_mongodb_tri…

83da0d9

…gger option

sample/include/store_image_description.py write to /tmp/image.jpg, if…

73d38f2

… vqa failed

sample/sample.launch, fix location of resize.launch

fd03657

launch/aibo_diary.launch: start usb_cam, and log aibo data

124a7ae

DatabaseTalkerBase.make_response: write all result images

f9bb1cd

DatabaseTalkerBase.make_response: select most closest images from tim…

3afe66e

…estamp of VQA results

make_aibo_dairy: support --test-response

c67cdc1

database_talker/__init__.py: add ~message Action Server to check if s…

d832ee5

…ending chat is failed

sample/include/store_image_description.py: check if image is black/bl…

8c058f4

…urred, also check similarity with past 10 sentences

launch/include/database_talker.launch : set respawn true to thorottle…

1883a38

…d_color_logger

launch/include/database_talker.launch: add start_mongodb_record_nodel…

228062a

…et_manager, start_mongodb

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