Merge branch 'master' into develop/pr2

jsk-ros-pkg · Jan 27, 2023 · dfa5be0 · dfa5be0
2 parents e84b81f + 33118e1
commit dfa5be0
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diff --git a/.github/workflows/config.yml b/.github/workflows/config.yml
@@ -20,7 +20,7 @@ jobs:
             ROS_PARALLEL_TEST_JOBS: "-j8"
             CATKIN_PARALLEL_JOBS: "-i"
             NOT_TEST_INSTALL : true
-            BEFORE_SCRIPT : "for name in dialogflow_task_executive ros_speech_recognition sesame_ros ffha libsiftfast nlopt julius julius_ros downward assimp_devel google_chat_ros; do echo \\$name; find $GITHUB_WORKSPACE -iname \\$name -exec touch {}/CATKIN_IGNORE \\; ; ls -al \\$(find -iname \\$name)/; done" # Skip large packagses /  Skip packages that could not build on indigo dialogflow_task_executive/ros_speech_recognition/sesame_ros
+            BEFORE_SCRIPT : "for name in dialogflow_task_executive ros_speech_recognition sesame_ros respeaker_ros ffha libsiftfast nlopt julius julius_ros downward assimp_devel google_chat_ros; do echo \\$name; find $GITHUB_WORKSPACE -iname \\$name -exec touch {}/CATKIN_IGNORE \\; ; ls -al \\$(find -iname \\$name)/; done" # Skip large packagses /  Skip packages that could not build on indigo dialogflow_task_executive/ros_speech_recognition/sesame_ros/respeaker_ros
           - ROS_DISTRO: kinetic
             CONTAINER: ubuntu:16.04
             ROS_PARALLEL_TEST_JOBS: "-j8"

diff --git a/3rdparty/zdepth/CMakeLists.txt b/3rdparty/zdepth/CMakeLists.txt
@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(zdepth)
+
+include(ExternalProject)
+
+if("$ENV{ROS_DISTRO}" STRGREATER "kinetic")
+  ExternalProject_Add(
+    zdepth
+    GIT_REPOSITORY  https://github.com/catid/Zdepth.git
+    GIT_TAG         ac7c6d8e944d07be2404e5a1eaa04562595f3756
+    GIT_SHALLOW     TRUE
+    PATCH_COMMAND cat ${PROJECT_SOURCE_DIR}/fix_cmakelists.patch | patch -p1
+    CMAKE_ARGS      -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+    INSTALL_COMMAND echo "install"
+   )
+
+  install(CODE "execute_process(COMMAND make install WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/zdepth-prefix/src/zdepth-build)")
+else()
+  install(CODE "message(WARNING \"Skipping zdepth install because ROS is too old\")")
+endif()
diff --git a/3rdparty/zdepth/fix_cmakelists.patch b/3rdparty/zdepth/fix_cmakelists.patch
@@ -0,0 +1,50 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index b22b2e7..a4251af 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -61,7 +61,7 @@ include_directories(include)
+
+ # zdepth library
+
+-add_library(zdepth STATIC ${SOURCE_FILES})
++add_library(zdepth SHARED ${SOURCE_FILES})
+ add_library(zdepth::zdepth ALIAS zdepth)
+
+ target_link_libraries(zdepth PUBLIC zstd)
+@@ -80,10 +80,13 @@ target_link_libraries(zdepth_test PRIVATE zdepth)
+ ################################################################################
+ # Install
+
+-install(FILES LICENSE DESTINATION ${CMAKE_INSTALL_PREFIX})
+-install(FILES README.md DESTINATION ${CMAKE_INSTALL_PREFIX})
+-install(DIRECTORY cmake include DESTINATION ${CMAKE_INSTALL_PREFIX})
+-install(TARGETS zdepth EXPORT zdepth LIBRARY DESTINATION lib)
++# install(FILES LICENSE DESTINATION ${CMAKE_INSTALL_PREFIX})
++# install(FILES README.md DESTINATION ${CMAKE_INSTALL_PREFIX})
++install(FILES include/zdepth.hpp DESTINATION ${CMAKE_INSTALL_PREFIX}/include/zdepth)
++install(FILES tests/test_vectors.inl DESTINATION ${CMAKE_INSTALL_PREFIX}/include/zdepth/tests)
++install(TARGETS zdepth EXPORT zdepth
++        ARCHIVE DESTINATION lib
++        LIBRARY DESTINATION lib)
+
+ ################################################################################
+ # Generate zdepthConfig.cmake and zdepthConfigVersion.cmake for cmake projects
+diff --git a/zstd/CMakeLists.txt b/zstd/CMakeLists.txt
+index 5869d4d..f9339a3 100644
+--- a/zstd/CMakeLists.txt
++++ b/zstd/CMakeLists.txt
+@@ -19,10 +19,12 @@ include_directories(include src)
+ ################################################################################
+ # Targets
+
+-add_library(zstd ${ZSTD_SOURCE_FILES})
++add_library(zstd SHARED ${ZSTD_SOURCE_FILES})
+ target_include_directories(zstd PUBLIC
+     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+     "$<INSTALL_INTERFACE:include>"
+ )
+
+-install(TARGETS zstd EXPORT zdepth LIBRARY DESTINATION lib)
++install(TARGETS zstd EXPORT zdepth
++        ARCHIVE DESTINATION lib
++        LIBRARY DESTINATION lib)
diff --git a/3rdparty/zdepth/package.xml b/3rdparty/zdepth/package.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>zdepth</name>
+  <version>0.0.0</version>
+  <description>The zdepth package</description>
+
+  <maintainer email="shingogo.5511@gmail.com">Shingo Kitagawa</maintainer>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>
diff --git a/dialogflow_task_executive/requirements.in.noetic b/dialogflow_task_executive/requirements.in.noetic
@@ -1,4 +1,5 @@
 dialogflow==1.1.1
 google-api-core[grpc]==1.33.0
 grpcio-status==1.48.1
+googleapis-common-protos[grpc]==1.56.2
 protobuf==3.20.1  # fix Could not find a version that matches protobuf<4.0.0dev,<5.0.0dev,>=3.15.0,>=3.20.1,>=4.21.3 (from google-api-core[grpc]==1.33.1->dialogflow==1.1.1->-r requirements.in (line 1))
diff --git a/google_chat_ros/requirements.in b/google_chat_ros/requirements.in
@@ -7,7 +7,7 @@ google-auth-oauthlib==0.5.2
 google-auth==2.8.0
 google-cloud-pubsub==2.12.1
 googleapis-common-protos[grpc]==1.56.2
-grpc-google-iam-v1
+grpc-google-iam-v1==0.12.4
 grpcio-status==1.46.3
 grpcio==1.46.3
 httplib2

diff --git a/google_chat_ros/scripts/google_chat_ros_node.py b/google_chat_ros/scripts/google_chat_ros_node.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import datetime
 import gdown
 import json
 import os
@@ -31,6 +32,8 @@ def __init__(self):
         self.download_data = rospy.get_param('~download_data', True)
         self.download_directory = rospy.get_param('~download_directory', "/tmp")
         self.download_avatar = rospy.get_param('~download_avatar', False)
+        self.upload_parents_path = rospy.get_param(
+            '~upload_parents_path', 'chat_notification')
 
         # For sending message
         self._client = GoogleChatRESTClient(google_credentials)
@@ -107,6 +110,7 @@ def rest_cb(self, goal):
 
         # Card
         json_body['cards'] = []
+        timestamp = '{0:%Y%m%d%H%M%S}'.format(datetime.datetime.now())
         if goal.cards:
             if goal.update_message:
                 json_body['actionResponse'] = {"type": "UPDATE_MESSAGE"}
@@ -122,10 +126,12 @@ def rest_cb(self, goal):
                     if card.header.image_url:
                         header['imageUrl'] = card.header.image_url
                     elif card.header.image_filepath:
-                        header['imageUrl'] = self._upload_file(card.header.image_filepath)
+                        header['imageUrl'] = self._upload_file(
+                            card.header.image_filepath, timestamp=timestamp)
                 # card/sections
                 sections = []
-                sections = self._make_sections_json(card.sections)
+                sections = self._make_sections_json(
+                    card.sections, timestamp=timestamp)
                 # card/actions
                 card_actions = []
                 for card_action_msg in card.card_actions:
@@ -267,7 +273,7 @@ def _make_message_msg(self, event):
 
         return message
 
-    def _make_sections_json(self, sections_msg):
+    def _make_sections_json(self, sections_msg, timestamp=None):
         """
         :type msg: list of google_chat_ros.msgs/Section
         :rtype json_body: list of json
@@ -277,11 +283,12 @@ def _make_sections_json(self, sections_msg):
             section = {}
             if msg.header:
                 section['header'] = msg.header
-            section['widgets'] = self._make_widget_markups_json(msg.widgets)
+            section['widgets'] = self._make_widget_markups_json(
+                msg.widgets, timestamp=timestamp)
             json_body.append(section)
         return json_body
 
-    def _make_widget_markups_json(self, widgets_msg):
+    def _make_widget_markups_json(self, widgets_msg, timestamp=None):
         """Make widget markup json lists.
         See https://developers.google.com/chat/api/reference/rest/v1/cards#widgetmarkup for details.
         :rtype widgets_msg: list of google_chat_ros.msgs/WidgetMarkup
@@ -296,7 +303,8 @@ def _make_widget_markups_json(self, widgets_msg):
             buttons = []
             buttons_msg = msg.buttons
             for button_msg in buttons_msg:
-                buttons.append(self._make_button_json(button_msg))
+                buttons.append(
+                    self._make_button_json(button_msg, timestamp=timestamp))
             if buttons:
                 json_body.append({'buttons':buttons})
 
@@ -309,7 +317,8 @@ def _make_widget_markups_json(self, widgets_msg):
                 if msg.image.image_url:
                     image_json['imageUrl'] = msg.image.image_url
                 elif msg.image.localpath:
-                    image_json['imageUrl'] = self._upload_file(msg.image.localpath)
+                    image_json['imageUrl'] = self._upload_file(
+                        msg.image.localpath, timestamp=timestamp)
                 if msg.image.on_click.action.action_method_name or msg.image.on_click.open_link_url:
                     image_json['onClick'] = self._make_on_click_json(msg.image.on_click)
                 if msg.image.aspect_ratio:
@@ -328,9 +337,12 @@ def _make_widget_markups_json(self, widgets_msg):
                 elif msg.key_value.original_icon_url:
                     keyval_json['iconUrl'] = msg.key_value.original_icon_url
                 elif msg.key_value.original_icon_localpath:
-                    keyval_json['iconUrl'] = self._upload_file(msg.key_value.original_icon_localpath)
+                    keyval_json['iconUrl'] = self._upload_file(
+                        msg.key_value.original_icon_localpath,
+                        timestamp=timestamp)
                 if msg.key_value.button.text_button_name or msg.key_value.button.image_button_name:
-                    keyval_json['button'] = self._make_button_json(msg.key_value.button)
+                    keyval_json['button'] = self._make_button_json(
+                        msg.key_value.button, timestamp=timestamp)
                 json_body.append({'keyValue':keyval_json})
         return json_body
 
@@ -355,7 +367,7 @@ def _make_on_click_json(self, on_click_msg):
             json_body['openLink'] = {'url': on_click_msg.open_link_url}
         return json_body
 
-    def _make_button_json(self, button_msg):
+    def _make_button_json(self, button_msg, timestamp=None):
         """Make button json.
         See https://developers.google.com/chat/api/reference/rest/v1/cards#button for details.
         :rtype button_msg: google_chat_ros.msg/Button.msg
@@ -379,7 +391,8 @@ def _make_button_json(self, button_msg):
             elif button_msg.original_icon_url:
                 image_icon['iconUrl'] = button_msg.original_icon_url
             elif button_msg.original_icon_filepath:
-                image_icon['iconUrl'] = self._upload_file(button_msg.original_icon_filepath)
+                image_icon['iconUrl'] = self._upload_file(
+                    button_msg.original_icon_filepath, timestamp=timestamp)
         return json_body
 
     def _get_user_info(self, item):
@@ -394,7 +407,7 @@ def _get_user_info(self, item):
         user.human = True if item.get('type') == "HUMAN" else False
         return user
 
-    def _upload_file(self, filepath, return_id=False):
+    def _upload_file(self, filepath, return_id=False, timestamp=None):
         """Get local filepath and upload to Google Drive
         :param filepath: local file's path you want to upload
         :type filepath: string
@@ -410,8 +423,17 @@ def _upload_file(self, filepath, return_id=False):
             rospy.logerr(e)
             return
         # upload
+        if timestamp is None:
+            parents_path = self.upload_parents_path
+        else:
+            parents_path = '{}/{}'.format(
+                self.upload_parents_path, timestamp)
         try:
-            res = gdrive_upload(file_path=filepath)
+            res = gdrive_upload(
+                file_path=filepath,
+                parents_path=parents_path,
+                use_timestamp_folder=False,
+            )
         except rospy.ServiceException as e:
             rospy.logerr("Failed to call Google Drive upload service, status:{}".format(str(e)))
         else:

diff --git a/jsk_3rdparty/package.xml b/jsk_3rdparty/package.xml
@@ -16,28 +16,55 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <run_depend>bayesian_belief_networks</run_depend>
+  <run_depend>chaplus_ros</run_depend>
+  <run_depend>dialogflow_task_executive</run_depend>
+  <run_depend>gdrive_ros</run_depend>
+  <run_depend>google_chat_ros</run_depend>
+  <run_depend>hark_jsk_plugins</run_depend>
+  <run_depend>influxdb_store</run_depend>
+  <run_depend>jsk_database_scripts</run_depend>
+  <run_depend>julius_ros</run_depend>
   <run_depend>opt_camera</run_depend>
-  <run_depend>rosping</run_depend>
   <run_depend>pgm_learner</run_depend>
+  <run_depend>respeaker_ros</run_depend>
+  <run_depend>ros_google_cloud_language</run_depend>
+  <run_depend>ros_speech_recognition</run_depend>
   <run_depend>rospatlite</run_depend>
-  <run_depend>nlopt</run_depend>
-  <run_depend>voice_text</run_depend>
-  <run_depend>slic</run_depend>
+  <run_depend>rosping</run_depend>
+  <run_depend>rostwitter</run_depend>
+  <run_depend>sesame_ros</run_depend>
+  <run_depend>switchbot_ros</run_depend>
+  <run_depend>webrtcvad_ros</run_depend>
+  <run_depend>zdepth_image_transport</run_depend>
+
+  <!-- 3rdparty/ dir -->
+  <run_depend>aques_talk</run_depend>
   <run_depend>assimp_devel</run_depend>
+  <run_depend>crlibm</run_depend>
+  <run_depend>downward</run_depend>
   <run_depend>ff</run_depend>
-  <run_depend>mini_maxwell</run_depend>
-  <run_depend>libcmt</run_depend>
-  <run_depend>libsiftfast</run_depend>
   <run_depend>ffha</run_depend>
-  <run_depend>downward</run_depend>
-  <run_depend>rostwitter</run_depend>
-  <run_depend>bayesian_belief_networks</run_depend>
-  <run_depend>julius</run_depend>
-  <run_depend>julius_ros</run_depend>
-  <run_depend>sesame_ros</run_depend>
-  <run_depend>dialogflow_task_executive</run_depend>
-  <run_depend>gdrive_ros</run_depend>
   <run_depend>google_cloud_texttospeech</run_depend>
+  <run_depend>jtalk</run_depend>
+  <run_depend>julius</run_depend>
+  <run_depend>libcmt</run_depend>
+  <run_depend>libsiftfast</run_depend>
+  <run_depend>lpg_planner</run_depend>
+  <run_depend>mini_maxwell</run_depend>
+  <run_depend>nlopt</run_depend>
+  <run_depend>python_twitter</run_depend>
+  <run_depend>python_twoauth</run_depend>
+  <run_depend>slic</run_depend>
+  <run_depend>voice_text</run_depend>
+  <run_depend>zdepth</run_depend>
+
+  <!-- jsk_ros_patch/ dir -->
+  <run_depend>collada_urdf_jsk_patch</run_depend>
+  <!-- <run_depend>depth_image_proc_jsk_patch</run_depend> -->
+  <run_depend>eecart_imped_jsk_patch</run_depend>
+  <run_depend>laser_filters_jsk_patch</run_depend>
+  <!-- <run_depend>openni_tracker_jsk_patch</run_depend> -->
 
   <export>
     <metapackage/>

diff --git a/respeaker_ros/CMakeLists.txt b/respeaker_ros/CMakeLists.txt
@@ -1,24 +1,43 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(respeaker_ros)
 
-find_package(catkin REQUIRED COMPONENTS dynamic_reconfigure)
+find_package(catkin REQUIRED COMPONENTS
+  catkin_virtualenv
+  dynamic_reconfigure
+)
 
 generate_dynamic_reconfigure_options(
   cfg/Respeaker.cfg
 )
 
 catkin_package()
 
+if($ENV{ROS_DISTRO} STRGREATER "melodic")
+  catkin_generate_virtualenv(
+    PYTHON_INTERPRETER python3
+    )
+else()
+  catkin_generate_virtualenv(
+    PYTHON_INTERPRETER python2
+    )
+endif()
+
 install(DIRECTORY config launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS)
+install(FILES requirements.txt
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
 file(GLOB PYTHON_SCRIPTS scripts/*.py)
 catkin_install_python(PROGRAMS ${PYTHON_SCRIPTS}
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts/)
 
 if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   find_package(roslaunch REQUIRED)
-  add_rostest(test/sample_respeaker.test)
+  add_rostest(test/sample_respeaker.test
+    DEPENDENCIES ${PROJECT_NAME}_generate_virtualenv
+  )
   roslaunch_add_file_check(launch/sample_respeaker.launch)
 endif()
diff --git a/respeaker_ros/package.xml b/respeaker_ros/package.xml
@@ -8,7 +8,9 @@
   <author email="furushchev@jsk.imi.i.u-tokyo.ac.jp">Yuki Furuta</author>
 
   <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>catkin_virtualenv</build_depend>
   <build_depend>dynamic_reconfigure</build_depend>
+
   <exec_depend>angles</exec_depend>
   <exec_depend>audio_common_msgs</exec_depend>
   <exec_depend>dynamic_reconfigure</exec_depend>
@@ -24,6 +26,11 @@
   <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-pyaudio</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-pyaudio</exec_depend>
   <exec_depend>python-pyusb-pip</exec_depend>
-  <exec_depend>python-speechrecognition-pip</exec_depend>
+
   <test_depend>jsk_tools</test_depend>
+
+  <export>
+    <pip_requirements>requirements.txt</pip_requirements>
+  </export>
+
 </package>
diff --git a/respeaker_ros/requirements.txt b/respeaker_ros/requirements.txt
@@ -0,0 +1 @@
+SpeechRecognition==3.8.1
diff --git a/respeaker_ros/scripts/respeaker_gencfg.py b/respeaker_ros/scripts/respeaker_gencfg.py