From e92bf92bc606fc1fe465cc5ca5a2fcb922634bcd Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Tue, 25 Apr 2023 20:45:03 +0900
Subject: [PATCH] add sample launch code for database_talker

---
 .../launch/interaction.launch                 |  50 +++++++
 .../jsk_robot_startup/launch/lifelog.launch   | 137 ++++++++++++++++++
 .../lifelog/lifelog_rgb_image.launch          |  19 +++
 3 files changed, 206 insertions(+)
 create mode 100644 jsk_robot_common/jsk_robot_startup/launch/interaction.launch
 create mode 100644 jsk_robot_common/jsk_robot_startup/launch/lifelog.launch
 create mode 100644 jsk_robot_common/jsk_robot_startup/lifelog/lifelog_rgb_image.launch

diff --git a/jsk_robot_common/jsk_robot_startup/launch/interaction.launch b/jsk_robot_common/jsk_robot_startup/launch/interaction.launch
new file mode 100644
index 0000000000..8c9a76c6c3
--- /dev/null
+++ b/jsk_robot_common/jsk_robot_startup/launch/interaction.launch
@@ -0,0 +1,50 @@
+<launch>
+  <!-- strelka -->
+  <arg name="google_chat_credentials_json" default="$(find jsk_robot_startup)/auth/tribal-quasar-343006-1025e6fc703f.json" />
+
+  <!-- common settings -->
+  <arg name="openai_credentials_json" default="$(find jsk_robot_startup)/auth/openai_credentials.json" />
+
+  <arg name="google_credentials_json" default="$(find jsk_robot_startup)/auth/eternal-byte-236613-4bc6962824d1.json" />
+
+  <arg name="chat_use_helper" default="true" doc="set false when your program respond to chat" />
+
+  <!-- Google Chat ROS -->
+  <include file="$(find google_chat_ros)/launch/google_chat.launch">
+    <arg name="receiving_mode" value="pubsub" />
+    <arg name="project_id" value="tribal-quasar-343006" />
+    <arg name="subscription_id" value="chat-sub" />
+    <arg name="respawn" value="true" />
+    <arg name="google_cloud_credentials_json" value="$(arg google_chat_credentials_json)"/>
+    <arg name="to_dialogflow_client" value="false" />
+    <arg name="use_helper" value="$(arg chat_use_helper)" />
+  </include>
+
+  <!-- Dialogflow Client ROS -->
+  <include file="$(find dialogflow_task_executive)/launch/dialogflow_ros.launch">
+    <arg name="credential" value="$(arg google_credentials_json)" />
+    <arg name="project_id" value="collaborative-remembering-kwit" />
+    <arg name="enable_hotword" value="false" />
+  </include>
+
+  <!-- Google Cloud Language -->
+  <include file="$(find ros_google_cloud_language)/launch/analyze_text.launch">
+    <arg name="google_cloud_credentials_json" value="$(arg google_credentials_json)" />
+  </include>
+
+  <!-- gdrive_ros -->
+  <include file="$(find gdrive_ros)/launch/gdrive_server.launch">
+    <arg name="settings_yaml" value="$(find jsk_robot_startup)/auth/pydrive_settings.yaml" />
+    <arg name="respawn" value="true" />
+    <arg name="node_name" value="gdrive_ros" />
+  </include>
+
+  <!-- openai_ros -->
+  <group ns="openai">
+    <node pkg="openai_ros" type="openai_node.py" name="openai" output="screen">
+      <rosparam command="load" file="$(arg openai_credentials_json)" />
+    </node>
+  </group>
+
+
+</launch>
diff --git a/jsk_robot_common/jsk_robot_startup/launch/lifelog.launch b/jsk_robot_common/jsk_robot_startup/launch/lifelog.launch
new file mode 100644
index 0000000000..b2645516d2
--- /dev/null
+++ b/jsk_robot_common/jsk_robot_startup/launch/lifelog.launch
@@ -0,0 +1,137 @@
+<launch>
+  <arg name="use_mail" default="false" />
+  <arg name="min_percent" default="5" doc="parameter for video_to_scene"/>
+  <arg name="max_percent" default="15" doc="parameter for video_to_scene"/>
+
+  <arg name="logger_save_rgb" default="false" />
+  <arg name="logger_save_depth" default="false" />
+  <arg name="logger_save_tf" default="false" />
+  <arg name="logger_save_joint_states" default="false" />
+  <arg name="logger_save_base_trajectory" default="false" />
+  <arg name="logger_save_object_detection" default="false" />
+  <arg name="logger_save_action" default="false" />
+  <arg name="logger_save_smach" default="false" />
+  <arg name="logger_save_faces" default="false" />
+  <arg name="logger_save_dialogflow" default="false" />
+  <arg name="logger_save_app" default="false" />
+  <arg name="logger_map_frame" default="odom" />
+
+  <arg name="image" default="usb_cam/image_raw" />
+
+  <param name="robot/database" value="jsk_robot_lifelog"/>
+
+  <!-- logging database -->
+  <param name="mongodb_replicate_on_write" value="true" /> <!-- need to set True to query from extra serveres, otherwise it only query from local server -->
+  <include file="$(find jsk_robot_startup)/lifelog/mongodb.launch">
+    <arg name="use_daemon" value="true"/>
+    <arg name="port" value="27017" />
+    <arg name="repl_set_mode" value="false" />
+    <arg name="replicate" default="true" />
+  </include>
+
+  <group if="$(arg use_mail)" >
+    <node pkg="jsk_robot_startup" type="email_topic.py" name="email_topic" output="screen" />
+
+    <node name="smach_to_mail" pkg="jsk_robot_startup" type="smach_to_mail.py" output="screen">
+      <remap from="~smach/container_status" to="/server_name/smach/container_status" />
+      <param name="sender_address" command='python -c "import rospy;print(rospy.get_param(\"robot/name\")+\"@jsk.imi.i.u-tokyo.ac.jp\")"' />
+      <param name="receiver_address" command='python -c "import rospy;print(rospy.get_param(\"robot/type\")+\"@jsk.imi.i.u-tokyo.ac.jp\")"' />
+    </node>
+  </group>
+
+  <include file="$(find jsk_robot_startup)/lifelog/common_logger.launch">
+    <arg name="save_rgb" value="$(arg logger_save_rgb)" />
+    <arg name="save_depth" value="$(arg logger_save_depth)" />
+    <arg name="save_tf" value="$(arg logger_save_tf)" />
+    <arg name="save_joint_states" value="$(arg logger_save_joint_states)" />
+    <arg name="save_base_trajectory" value="$(arg logger_save_base_trajectory)" />
+    <arg name="save_object_detection" value="$(arg logger_save_object_detection)" />
+    <arg name="save_action" value="$(arg logger_save_action)" />
+    <arg name="save_smach" value="$(arg logger_save_smach)" />
+    <arg name="save_faces" value="$(arg logger_save_faces)" />
+    <arg name="save_dialogflow" value="$(arg logger_save_dialogflow)" />
+    <arg name="save_app" value="$(arg logger_save_app)" />
+
+    <arg name="enable_monitor" value="false" />
+    <arg name="log_rate" value="1.0" />
+    <arg name="launch_manager" value="true" />
+    <arg name="manager" value="mongodb_record_nodelet_manager" />
+    <arg name="map_frame_id" value="$(arg logger_map_frame)" />
+    <arg name="approximate_sync" value="true"/>
+  </include>
+
+  <!-- outputs $(arg image)/output/compressed when new scene found -->
+  <include file="$(find jsk_perception)/launch/video_to_scene.launch" >
+    <arg name="INPUT_IMAGE" value="$(arg image)" />
+    <arg name="IMAGE_TRANSPORT" default="compressed" />
+    <arg name="launch_manager" value="true" />
+    <arg name="manager" value="vidoe_to_scene_nodelet_manager" />
+    <arg name="min_percent" value="$(arg min_percent)" />
+    <arg name="max_percent" value="$(arg max_percent)" />
+  </include>
+
+  <!-- publish /publish_trigger_mongodb_event when video_to_scene, */class or dialogflow are detected -->
+  <node pkg="topic_tools" type="transform" name="publish_trigger_mongodb_video_to_scene"
+        args="--wait-for-start $(arg image)/output/compressed /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_aws_auto_checkin"
+        args="--wait-for-start /aws_auto_checkin_app/output/class /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_aws_detect_faces"
+        args="--wait-for-start /aws_detect_faces/attributes /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_dialogflow_client"
+        args="--wait-for-start /dialogflow_client/text_action/result /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_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_record_nodelet_manager" >
+    <rosparam subst_value="true">
+      approximate_sync: true
+      topics:
+      - /publish_trigger_mongodb_event
+      - $(arg image)/compressed
+    </rosparam>
+  </node>
+
+  <!-- store thottled image -->
+  <group ns="lifelog">
+    <include file="$(find jsk_robot_startup)/lifelog/lifelog_rgb_image.launch" >
+      <arg name="node_name" value="hand_color_logger" />
+      <arg name="image" value="$(arg image)/compressed/throttled" />
+      <arg name="manager" value="mongodb_record_nodelet_manager" />
+    </include>
+  </group>
+
+  <!-- save classification data -->
+  <!-- sample code for object detection
+  <node name="classification_logger"
+        pkg="jsk_robot_startup" type="mongo_record.py" >
+    <rosparam subst_value="true">
+      topics:
+      - /spot/ncb_provider/hand_color_image/class
+    </rosparam>
+    </node>
+  -->
+
+  <!-- save bbox data -->
+  <!-- sample code for object detection
+  <node name="bbox_logger"
+        pkg="jsk_robot_startup" type="mongo_record.py" >
+    <rosparam subst_value="true">
+      topics:
+      - /spot/ncb_provider/bbox_array
+    </rosparam>
+  </node>
+  -->
+
+</launch>
diff --git a/jsk_robot_common/jsk_robot_startup/lifelog/lifelog_rgb_image.launch b/jsk_robot_common/jsk_robot_startup/lifelog/lifelog_rgb_image.launch
new file mode 100644
index 0000000000..6f0f1e4a28
--- /dev/null
+++ b/jsk_robot_common/jsk_robot_startup/lifelog/lifelog_rgb_image.launch
@@ -0,0 +1,19 @@
+<launch>
+  <arg name="launch_manager" default="true" />
+  <arg     if="$(arg launch_manager)" name="manager" default="mongodb_record_nodelet_manager" />
+  <arg unless="$(arg launch_manager)" name="manager" />
+  <arg name="respawn" default="false" />
+  <arg name="image" default="image" />
+  <arg name="node_name" default="rgb_image_logger" />
+
+  <node name="$(arg node_name)"
+        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>