Merge branch 'master' into PR-add-timeout-get-light-on-master

jsk-ros-pkg · Nov 30, 2022 · 1b2d968 · 1b2d968
2 parents 4233053 + d5e780b
commit 1b2d968
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Showing 4 changed files with 63 additions and 38 deletions.
diff --git a/jsk_naoqi_robot/naoqieus/naoqi-interface.l b/jsk_naoqi_robot/naoqieus/naoqi-interface.l
@@ -8,7 +8,7 @@
 (ros::load-ros-package "nao_interaction_msgs")
 
 (defclass naoqi-interface
-  :super robot-interface
+  :super robot-move-base-interface
   :slots (naoqi-namespace dcm-namespace joint-stiffness-trajectory-action body-pose-with-speed-action)
   )
 
@@ -270,6 +270,12 @@
      (when master-lang
        (send self :set-language master-lang))
      t))
+  (:speak-jp (str &key wait volume)
+     (send self :speak str :lang "Japanese"
+                :wait wait :volume volume))
+  (:speak-en (str &key wait volume)
+     (send self :speak str :lang "English"
+                :wait wait :volume volume))
   (:check-speak-status
    (&optional (wait 60))
    (let (speech_status tm)
@@ -305,13 +311,15 @@
     the robot moves relative to current position.
     using [m] and [degree] is historical reason from original hrpsys code"
    ;; https://github.com/jsk-ros-pkg/jsk_pr2eus/blob/master/pr2eus/robot-interface.l#L867
-   (let (c (pose_msg (instance geometry_msgs::PoseStamped :init)))
-     (setq c (make-coords :pos (float-vector (* 1000 x) (* y 1000) 0)
-			  :rpy (float-vector (deg2rad d) 0 0)))
-     (send pose_msg :header :frame_id "base_footprint")
-     (send pose_msg :pose (ros::coords->tf-pose c))
-     (ros::publish (format nil "~A/move_base_simple/goal" group-namespace) pose_msg)
-     ))
+   (if (send self :simulation-modep)
+     (send-super :go-pos x y d)
+     (let (c (pose_msg (instance geometry_msgs::PoseStamped :init)))
+       (setq c (make-coords :pos (float-vector (* 1000 x) (* y 1000) 0)
+             :rpy (float-vector (deg2rad d) 0 0)))
+       (send pose_msg :header :frame_id "base_footprint")
+       (send pose_msg :pose (ros::coords->tf-pose c))
+       (ros::publish (format nil "~A/move_base_simple/goal" group-namespace) pose_msg)
+       )))
 
   (:go-velocity
    (x y d &optional (msec 1000) &key (stop t)) ;; [m/sec] [m/sec] [rad/sec]

diff --git a/jsk_robot_common/jsk_robot_startup/CMakeLists.txt b/jsk_robot_common/jsk_robot_startup/CMakeLists.txt
@@ -140,6 +140,14 @@ endif()
 install(DIRECTORY lifelog util launch images config cfg
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS)
+file(GLOB_RECURSE SCRIPT_PROGRAMS lifelog/*)
+foreach(SCRIPT_PROGRAM ${SCRIPT_PROGRAMS})
+  if("${SCRIPT_PROGRAM}" MATCHES ".*\\.py$")
+    catkin_install_python(PROGRAMS ${SCRIPT_PROGRAM} DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+  else()
+    install(PROGRAMS ${SCRIPT_PROGRAM} DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+  endif()
+endforeach()
 
 if(mongodb_store_FOUND)
 install(TARGETS jsk_robot_lifelog

diff --git a/jsk_robot_common/jsk_robot_startup/package.xml b/jsk_robot_common/jsk_robot_startup/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="3">
   <name>jsk_robot_startup</name>
   <version>1.1.0</version>
   <description>The jsk_robot_startup package</description>
@@ -19,33 +19,39 @@
   <build_depend>sensor_msgs</build_depend>
   <build_depend>dynamic_reconfigure</build_depend>
   <build_depend>urdf</build_depend>
-  <run_depend>actionlib_msgs</run_depend>
-  <run_depend>app_manager</run_depend>
-  <run_depend>dynamic_reconfigure</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>gmapping</run_depend>
-  <run_depend>google_chat_ros</run_depend>
-  <run_depend>jsk_recognition_msgs</run_depend>
-  <run_depend version_gte="2.2.7">jsk_topic_tools</run_depend>
-  <run_depend>message_runtime</run_depend>
-  <run_depend>mongodb_store</run_depend>
-  <run_depend>nodelet</run_depend>
-  <run_depend>pointcloud_to_laserscan</run_depend>
-  <run_depend>posedetection_msgs</run_depend>
-  <run_depend>rosbridge_server</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>roseus_mongo</run_depend>
-  <run_depend>rosgraph</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>rostwitter</run_depend>
-  <run_depend>roswww</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>tf</run_depend>
-  <run_depend>tf2_ros</run_depend>
-  <run_depend>tf2_py</run_depend>
-  <run_depend>tf2_geometry_msgs</run_depend>
-  <run_depend>urdf</run_depend>
-  <run_depend>jsk_tilt_laser</run_depend>
+  <exec_depend>actionlib_msgs</exec_depend>
+  <exec_depend>app_manager</exec_depend>
+  <exec_depend>dynamic_reconfigure</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>gmapping</exec_depend>
+  <exec_depend>google_chat_ros</exec_depend>
+  <exec_depend>jsk_recognition_msgs</exec_depend>
+  <exec_depend version_gte="2.2.7">jsk_topic_tools</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>mongodb_store</exec_depend>
+  <exec_depend>nodelet</exec_depend>
+  <exec_depend>pointcloud_to_laserscan</exec_depend>
+  <exec_depend>posedetection_msgs</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-bson</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-bson</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-pymongo</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-pymongo</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-tz</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-tz</exec_depend>
+  <exec_depend>rosbridge_server</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>roseus_mongo</exec_depend>
+  <exec_depend>rosgraph</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>rostwitter</exec_depend>
+  <exec_depend>roswww</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>tf</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
+  <exec_depend>tf2_py</exec_depend>
+  <exec_depend>tf2_geometry_msgs</exec_depend>
+  <exec_depend>urdf</exec_depend>
+  <exec_depend>jsk_tilt_laser</exec_depend>
 
   <test_depend>rostest</test_depend>
   <test_depend>pr2_gazebo</test_depend>

diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/email_topic_client.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/email_topic_client.py
@@ -1,6 +1,6 @@
 import rospy
 from jsk_robot_startup.msg import Email
-
+from jsk_robot_startup.msg import EmailBody
 
 class EmailTopicClient:
 
@@ -20,7 +20,10 @@ def send_mail(self,
         msg = Email()
         msg.header.stamp = rospy.Time.now()
         msg.subject = subject
-        msg.body = body
+        email_body = EmailBody()
+        email_body.type = "text"
+        email_body.message = body
+        msg.body.append(email_body)
         msg.receiver_address = receiver_address
         if sender_address is not None:
             msg.sender_address = sender_address