Fix audio to spectrogram plot and add test

audio_to_spectrogram/package.xml

@@ -22,6 +22,7 @@
   <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-matplotlib</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
 
+  <test_depend>jsk_tools</test_depend>
   <test_depend>roslaunch</test_depend>
   <test_depend>rostest</test_depend>
 

audio_to_spectrogram/scripts/audio_amplitude_plot.py

@@ -3,9 +3,14 @@
 
 from __future__ import division
 
+from distutils.version import LooseVersion
+import pkg_resources
 import cv_bridge
 from dynamic_reconfigure.server import Server
 from jsk_topic_tools import ConnectionBasedTransport
+import matplotlib
+from audio_to_spectrogram import check_matplotlib_version; check_matplotlib_version()
+matplotlib.use('Agg')
 import matplotlib.pyplot as plt
 import numpy as np
 import rospy
@@ -42,10 +47,22 @@ def start_timer(self):
         if rate == 0:
             rospy.logwarn('You cannot set 0 as the rate; change it to 10.')
             rate = 10
-        self.timer = rospy.Timer(rospy.Duration(1.0 / rate), self.timer_cb)
+
+        timer_kwargs = dict(
+            period=rospy.Duration(1.0 / rate),
+            callback=self.timer_cb,
+            oneshot=False,
+        )
+        if (LooseVersion(pkg_resources.get_distribution('rospy').version) >=
+                LooseVersion('1.12.0')) and rospy.get_param('/use_sim_time', None):
+            # on >=kinetic, it raises ROSTimeMovedBackwardsException
+            # when we use rosbag play --loop.
+            timer_kwargs['reset'] = True
+        self.timer = rospy.Timer(**timer_kwargs)
 
     def stop_timer(self):
         self.timer.shutdown()
+        self.timer = None
 
     def subscribe(self):
         self.audio_buffer.subscribe()

audio_to_spectrogram/scripts/audio_to_spectrum.py

@@ -2,6 +2,8 @@
 
 import numpy as np
 import rospy
+from distutils.version import LooseVersion
+import pkg_resources
 
 from audio_common_msgs.msg import AudioData
 from jsk_recognition_msgs.msg import Spectrum
@@ -45,7 +47,18 @@ def __init__(self):
             '~spectrum', Spectrum, queue_size=1)
         self.pub_spectrum_filtered = rospy.Publisher(
             '~spectrum_filtered', Spectrum, queue_size=1)
-        rospy.Timer(rospy.Duration(1. / self.fft_exec_rate), self.timer_cb)
+
+        timer_kwargs = dict(
+            period=rospy.Duration(1.0 / self.fft_exec_rate),
+            callback=self.timer_cb,
+            oneshot=False,
+        )
+        if (LooseVersion(pkg_resources.get_distribution('rospy').version) >=
+                LooseVersion('1.12.0')) and rospy.get_param('/use_sim_time', None):
+            # on >=kinetic, it raises ROSTimeMovedBackwardsException
+            # when we use rosbag play --loop.
+            timer_kwargs['reset'] = True
+        self.timer = rospy.Timer(**timer_kwargs)
 
     def timer_cb(self, timer):
         if len(self.audio_buffer) != self.audio_buffer.audio_buffer_len:

audio_to_spectrogram/scripts/spectrum_plot.py

@@ -5,6 +5,9 @@
 
 import cv_bridge
 from jsk_topic_tools import ConnectionBasedTransport
+import matplotlib
+from audio_to_spectrogram import check_matplotlib_version; check_matplotlib_version()
+matplotlib.use('Agg')
 import matplotlib.pyplot as plt
 import numpy as np
 import rospy

audio_to_spectrogram/scripts/spectrum_to_spectrogram.py

@@ -4,6 +4,8 @@
 from cv_bridge import CvBridge
 import numpy as np
 import rospy
+from distutils.version import LooseVersion
+import pkg_resources
 
 from jsk_recognition_msgs.msg import Spectrum
 from sensor_msgs.msg import Image
@@ -34,10 +36,18 @@ def __init__(self):
             '~spectrogram', Image, queue_size=1)
         publish_rate = rospy.get_param(
             '~publish_rate', float(self.image_width / self.spectrogram_period))
-        rospy.Timer(
-            rospy.Duration(
-                1.0 / publish_rate),
-            self.timer_cb)
+
+        timer_kwargs = dict(
+            period=rospy.Duration(1.0 / publish_rate),
+            callback=self.timer_cb,
+            oneshot=False,
+        )
+        if (LooseVersion(pkg_resources.get_distribution('rospy').version) >=
+                LooseVersion('1.12.0')) and rospy.get_param('/use_sim_time', None):
+            # on >=kinetic, it raises ROSTimeMovedBackwardsException
+            # when we use rosbag play --loop.
+            timer_kwargs['reset'] = True
+        self.timer = rospy.Timer(**timer_kwargs)
         self.bridge = CvBridge()
 
     def audio_cb(self, msg):

audio_to_spectrogram/src/audio_to_spectrogram/__init__.py

@@ -1,2 +1,3 @@
-from .audio_buffer import AudioBuffer
-from .convert_matplotlib import convert_matplotlib_to_img
+from audio_to_spectrogram.audio_buffer import AudioBuffer
+from audio_to_spectrogram.compat import check_matplotlib_version
+from audio_to_spectrogram.convert_matplotlib import convert_matplotlib_to_img

audio_to_spectrogram/src/audio_to_spectrogram/compat.py

@@ -0,0 +1,25 @@
+import os
+import subprocess
+import warnings
+
+import matplotlib
+
+
+def check_matplotlib_version(
+        python_version=os.getenv('ROS_PYTHON_VERSION')):
+    if python_version == '2':
+        python = 'python'
+    else:
+        python = 'python{}'.format(python_version)
+    out = subprocess.check_output(
+        ['dpkg', '-L', '{}-matplotlib'.format(python)])
+    if isinstance(out, bytes):
+        out = out.decode('utf-8')
+    matplotlib_filelists = out.split()
+    if os.path.dirname(matplotlib.__file__) in matplotlib_filelists:
+        return True
+    else:
+        warnings.warn(
+            "It looks like you are using pip's matplotlib. "
+            "Apt's matplotlib is recommended.")
+    return False

audio_to_spectrogram/src/audio_to_spectrogram/convert_matplotlib.py

@@ -7,6 +7,7 @@
 
 import numpy as np
 import PIL
+import PIL.Image
 
 
 def convert_matplotlib_to_img(fig):

audio_to_spectrogram/test/audio_to_spectrogram.test

@@ -11,6 +11,10 @@
     <rosparam>
       topic_0: /spectrum_to_spectrogram/spectrogram
       timeout_0: 30
+      topic_1: /audio_amplitude_plot/output/viz
+      timeout_1: 30
+      topic_2: /spectrum_plot/output/viz
+      timeout_2: 30
     </rosparam>
   </test>