Merge branch 'master' into chmod-sample-app-print

knorth55 · May 2, 2023 · f9a1d51 · f9a1d51
2 parents 3b9de77 + 8302720
commit f9a1d51
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Showing 4 changed files with 31 additions and 2 deletions.
diff --git a/dialogflow_task_executive/node_scripts/task_executive.py b/dialogflow_task_executive/node_scripts/task_executive.py
@@ -82,8 +82,7 @@ def _list_apps_cb(self, msg):
 
     @property
     def running_apps(self):
-        return map(lambda a: a.name,
-                   self._latest_msg.running_apps)
+        return [a.name for a in self._latest_msg.running_apps]
 
     @property
     def available_apps(self):

diff --git a/google_chat_ros/README.md b/google_chat_ros/README.md
@@ -307,3 +307,31 @@ rostopic pub -1 /google_chat_ros/send/goal google_chat_ros/SendMessageActionGoal
 ```
 ### 5.2 Receiving a message with images or gdrive file
 You have to set rosparam `~download_data` True, `~download_directory`. If the node recieved the message with image or google drive file, it automatically downloads to `~donwload_directory` path.
+
+
+### Troubleshoot
+
+#### google.api_core.exceptions.NotFound: 404 Resource not found (resource=chat-sub).
+
+If you encounter `404 Resource not found (resource=chat-sub).` error on your screen as shown in below.
+
+```
+[INFO] [1680417167.337634]: [/google_chat_ros] Expected to use Google Cloud Pub Sub service
+Traceback (most recent call last):
+  File "/home/k-okada/catkin_ws/ws_3rdparty/src/jsk_3rdparty/google_chat_ros/scripts/google_chat_ros_node.py", line 473, in <module>
+    node = GoogleChatROS()
+  File "/home/k-okada/catkin_ws/ws_3rdparty/src/jsk_3rdparty/google_chat_ros/scripts/google_chat_ros_node.py", line 80,
+in __init__
+    self._pubsub_client.run()
+  File "/home/k-okada/catkin_ws/ws_3rdparty/src/jsk_3rdparty/google_chat_ros/src/google_chat_ros/google_chat.py", line 135, in run
+    self._streaming_pull_future.result()
+  File "/usr/lib/python3.6/concurrent/futures/_base.py", line 432, in result
+    return self.__get_result()
+  File "/usr/lib/python3.6/concurrent/futures/_base.py", line 384, in __get_result
+    raise self._exception
+google.api_core.exceptions.NotFound: 404 Resource not found (resource=chat-sub).
+```
+
+Please make sure that you have enabled subscription service, as a default it expires in 7 days. We recommend you to set no expiration date.
+
+![google_chat_ros_404_error](https://user-images.githubusercontent.com/493276/230245558-f85dbde8-c774-4932-ba52-cebf6848bb5a.png)
diff --git a/ros_speech_recognition/package.xml b/ros_speech_recognition/package.xml
@@ -22,6 +22,7 @@
   <run_depend>flac</run_depend>
   <run_depend>sound_play</run_depend>
   <run_depend>speech_recognition_msgs</run_depend>
+  <run_depend>ubuntu-sounds</run_depend>
 
   <test_depend>rostest</test_depend>
   <test_depend>roslaunch</test_depend>

diff --git a/ros_speech_recognition/scripts/parrot_node.py b/ros_speech_recognition/scripts/parrot_node.py
@@ -20,6 +20,7 @@ def __init__(self):
             blocking=True,
             sound_action=tts_action_name,
         )
+        self.conf_thresh = rospy.get_param('~confidence_threshold',0.8)
 
     def _sub_cb(self, msg):
         if len(msg.confidence) > 0: