diff --git a/README.md b/README.md index 5987504..ee27e11 100644 --- a/README.md +++ b/README.md @@ -2,73 +2,38 @@ ## Installation -See [Software setup](https://github.com/CoreSenseEU/CoreSense4Home/wiki/C-Software-Setup) +1. Create a dedicated workspace and clone this repo in it - -## Usage -### Navigation -```bash -ros2 launch robocup_bringup navigation.launch.py ``` -### Launch current carry my luggage implementation +mkdir -p robocup/src +cd robocup/src +git clone https://github.com/CoreSenseEU/CoreSense4Home.git +``` -First kill move_group node inside tiago robot. Then in separate terminals launch: +2. Install [Whisper_ROS](https://github.com/mgonzs13/whisper_ros) -```bash -ros2 launch robocup_bringup navigation_follow.launch.py rviz:=True -``` -```bash -ros2 launch attention_system attention.launch.py -``` -```bash -ros2 launch robocup_bringup carry_my_luggage_dependencies.launch.py -``` -```bash -ros2 launch whisper_bringup whisper.launch.py -``` -Finally: + 1. [Install CUDA (V12.1)](https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#ubuntu) + 2. Follow instructions on [whisper_ros repo](https://github.com/mgonzs13/whisper_ros) -```bash -ros2 run bt_test carry_my_luggage_test -``` +3. Install internal dependencies -### Follow navigation with small objects -```bash -ros2 launch robocup_bringup navigation_follow.launch.py ``` -### Demo moveit -inside tiago, first kill move_group and then: -```bash -ros2 launch tiago_moveit_config move_group.launch.py -``` -Launch the percetion system with the remaps for the tiago, and activate the object detection node -```bash -ros2 launch perception_system perception3d.launch.py -``` -launch the speaking system: -```bash -ros2 run audio_common tts_node -ros2 run audio_common audio_player_node -ros2 launch whisper_bringup whisper.launch.py -``` -launch the manipulation system: -```bash -ros2 launch action_server server.launch.py +robocup/src $ vcs import --recursive < CoreSense4Home/robocup_bringup/thirdparty.repos +robocup/src $ cd .. +robocup $ rosdep install --from-paths src --ignore-src -r -y ``` -execute the test: +## Usage -```bash -ros2 run bt_test pick_demo_test -``` +### Launch current carry my luggage implementation -### Demo Dialog -```bash -ros2 launch robocup_bringup dialog.launch.py -``` +First kill navigation, localization and hri_body_detect (you are going to launch your own) modules inside tiago robot. Then in separate terminals launch: -Execute the test: +```bash +ros2 launch robocup_bringup carry_my_luggage_dependencies.launch.py +``` +Finally: ```bash -ros2 run bt_test ask_test +ros2 launch robocup_bringup bt_test carry_my_luggage.launch.py ``` diff --git a/bt_nodes/arm/CMakeLists.txt b/bt_nodes/arm/CMakeLists.txt index 717afe2..082c3d9 100644 --- a/bt_nodes/arm/CMakeLists.txt +++ b/bt_nodes/arm/CMakeLists.txt @@ -11,10 +11,12 @@ find_package(behaviortree_cpp_v3 REQUIRED) find_package(rclcpp REQUIRED) find_package(rclcpp_cascade_lifecycle REQUIRED) find_package(rclcpp_action REQUIRED) -find_package(manipulation_interfaces REQUIRED) +# find_package(manipulation_interfaces REQUIRED) (juandpenan) todo: uncomment this when pal team finishes testing find_package(tf2_ros REQUIRED) find_package(geometry_msgs REQUIRED) find_package(sensor_msgs REQUIRED) +find_package(play_motion2_msgs REQUIRED) + # uncomment the following section in order to fill in # further dependencies manually. # find_package( REQUIRED) @@ -26,37 +28,43 @@ set(dependencies rclcpp rclcpp_cascade_lifecycle rclcpp_action - manipulation_interfaces + # manipulation_interfaces (juandpenan) todo: uncomment this when pal team finishes testing tf2_ros geometry_msgs sensor_msgs + play_motion2_msgs ) include_directories(include) -add_library(pick_bt_node SHARED src/manipulation/pick_object.cpp) -list(APPEND plugin_libs pick_bt_node) +# add_library(pick_bt_node SHARED src/manipulation/pick_object.cpp) +# list(APPEND plugin_libs pick_bt_node) + +# add_library(move_to_predefined_bt_node SHARED src/manipulation/move_to_predefined.cpp) +# list(APPEND plugin_libs move_to_predefined_bt_node) + +# add_library(point_at_bt_node SHARED src/manipulation/point_at.cpp) +# list(APPEND plugin_libs point_at_bt_node) -add_library(move_to_predefined_bt_node SHARED src/manipulation/move_to_predefined.cpp) -list(APPEND plugin_libs move_to_predefined_bt_node) +# add_library(place_bt_node SHARED src/manipulation/place_object.cpp) +# list(APPEND plugin_libs place_bt_node) -add_library(point_at_bt_node SHARED src/manipulation/point_at.cpp) -list(APPEND plugin_libs point_at_bt_node) +# add_library(move_joint_bt_node SHARED src/manipulation/move_joint.cpp) +# list(APPEND plugin_libs move_joint_bt_node) -add_library(place_bt_node SHARED src/manipulation/place_object.cpp) -list(APPEND plugin_libs place_bt_node) +# add_library(pick_object_from_pc_bt_node SHARED src/manipulation/pick_object_from_pc.cpp) +# list(APPEND plugin_libs pick_object_from_pc_bt_node) -add_library(move_joint_bt_node SHARED src/manipulation/move_joint.cpp) -list(APPEND plugin_libs move_joint_bt_node) +# add_library(move_end_effector_bt_node SHARED src/manipulation/move_end_effector.cpp) +# list(APPEND plugin_libs move_end_effector_bt_node) -add_library(pick_object_from_pc_bt_node SHARED src/manipulation/pick_object_from_pc.cpp) -list(APPEND plugin_libs pick_object_from_pc_bt_node) +# add_library(generate_grasp_poses_bt_node SHARED src/manipulation/generate_grasp_poses.cpp) +# list(APPEND plugin_libs generate_grasp_poses_bt_node) -add_library(move_end_effector_bt_node SHARED src/manipulation/move_end_effector.cpp) -list(APPEND plugin_libs move_end_effector_bt_node) +# (juandpenan) todo: uncomment this when pal team finishes testing -add_library(generate_grasp_poses_bt_node SHARED src/manipulation/generate_grasp_poses.cpp) -list(APPEND plugin_libs generate_grasp_poses_bt_node) +add_library(pal_move_to_predefined_bt_node SHARED src/manipulation/pal_move_to_predefined.cpp) +list(APPEND plugin_libs pal_move_to_predefined_bt_node) foreach(bt_plugin ${plugin_libs}) diff --git a/bt_nodes/arm/include/arm/manipulation/pal_move_to_predefined.hpp b/bt_nodes/arm/include/arm/manipulation/pal_move_to_predefined.hpp new file mode 100644 index 0000000..81a9dd1 --- /dev/null +++ b/bt_nodes/arm/include/arm/manipulation/pal_move_to_predefined.hpp @@ -0,0 +1,57 @@ +// Copyright 2024 Intelligent Robotics Lab - Gentlebots +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions andGO2OBJECT +// limitations under the License. + +#ifndef ARM_MANIPULATION__PAL_MOVE_TO_PREDEFINED_HPP_ +#define ARM_MANIPULATION__PAL_MOVE_TO_PREDEFINED_HPP_ + +#include +#include + +#include "arm/manipulation/BTActionNode.hpp" +#include "behaviortree_cpp_v3/behavior_tree.h" +#include "behaviortree_cpp_v3/bt_factory.h" +#include "play_motion2_msgs/action/play_motion2.hpp" +#include "rclcpp/rclcpp.hpp" +#include "rclcpp_cascade_lifecycle/rclcpp_cascade_lifecycle.hpp" + +namespace manipulation +{ + +class PalMoveToPredefined : public manipulation::BtActionNode< + play_motion2_msgs::action::PlayMotion2, + rclcpp_cascade_lifecycle::CascadeLifecycleNode> +{ +public: + explicit PalMoveToPredefined( + const std::string & xml_tag_name, const std::string & action_name, + const BT::NodeConfiguration & conf); + + void on_tick() override; + BT::NodeStatus on_success() override; + + static BT::PortsList providedPorts() + { + return BT::PortsList( + {BT::InputPort("pose"), BT::InputPort("group_name")}); + } + +private: + std::string group_name_{"arm_torso"}; + + std::string pose_; +}; + +} // namespace manipulation + +#endif // ARM_MANIPULATION__PAL_MOVE_TO_PREDEFINED_HPP_ diff --git a/bt_nodes/arm/package.xml b/bt_nodes/arm/package.xml index c5e653b..668b1c5 100644 --- a/bt_nodes/arm/package.xml +++ b/bt_nodes/arm/package.xml @@ -12,7 +12,7 @@ rclcpp rclcpp_action rclcpp_cascade_lifecycle - manipulation_interfaces + ament_lint_auto ament_lint_common diff --git a/bt_nodes/arm/src/manipulation/pal_move_to_predefined.cpp b/bt_nodes/arm/src/manipulation/pal_move_to_predefined.cpp new file mode 100644 index 0000000..1672982 --- /dev/null +++ b/bt_nodes/arm/src/manipulation/pal_move_to_predefined.cpp @@ -0,0 +1,60 @@ +// Copyright 2024 Intelligent Robotics Lab - Gentlebots +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "arm/manipulation/pal_move_to_predefined.hpp" + +#include +#include + +#include "behaviortree_cpp_v3/behavior_tree.h" +#include "play_motion2_msgs/action/play_motion2.hpp" + +namespace manipulation +{ + +using namespace std::chrono_literals; +using namespace std::placeholders; + +PalMoveToPredefined::PalMoveToPredefined( + const std::string & xml_tag_name, const std::string & action_name, + const BT::NodeConfiguration & conf) +: manipulation::BtActionNode< + play_motion2_msgs::action::PlayMotion2, + rclcpp_cascade_lifecycle::CascadeLifecycleNode>(xml_tag_name, action_name, conf) +{ +} + +void PalMoveToPredefined::on_tick() +{ + RCLCPP_DEBUG(node_->get_logger(), "PalMoveToPredefined ticked"); + + getInput("pose", pose_); + goal_.motion_name = pose_; +} + +BT::NodeStatus PalMoveToPredefined::on_success() +{ + return BT::NodeStatus::SUCCESS; +} + +} // namespace manipulation +#include "behaviortree_cpp_v3/bt_factory.h" +BT_REGISTER_NODES(factory) +{ + BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) { + return std::make_unique(name, "/play_motion2", config); + }; + + factory.registerBuilder("PalMoveToPredefined", builder); +} diff --git a/bt_nodes/bt_test/CMakeLists.txt b/bt_nodes/bt_test/CMakeLists.txt index 28aec6f..8192bd2 100644 --- a/bt_nodes/bt_test/CMakeLists.txt +++ b/bt_nodes/bt_test/CMakeLists.txt @@ -22,7 +22,7 @@ find_package(motion REQUIRED) find_package(perception REQUIRED) find_package(arm REQUIRED) find_package(tf2_ros REQUIRED) -find_package(hri REQUIRED) +find_package(robocup_hri REQUIRED) find_package(perception_system_interfaces REQUIRED) # find_package(backward_ros REQUIRED) @@ -41,7 +41,7 @@ set(dependencies motion perception tf2_ros - hri + robocup_hri arm geometry_msgs perception_system_interfaces @@ -101,7 +101,7 @@ target_link_libraries(follow_test perception::is_detected_bt_node motion::move_t # Speak test add_executable(speak_test src/speak_test.cpp) ament_target_dependencies(speak_test ${dependencies}) -target_link_libraries(speak_test hri::speak_bt_node hri::dialogConfirmation_bt_node) +target_link_libraries(speak_test robocup_hri::speak_bt_node robocup_hri::dialogConfirmation_bt_node) # ExtractObjectFromScene test add_executable(extract_object_from_scene_test src/extract_object_from_scene_test.cpp) ament_target_dependencies(extract_object_from_scene_test ${dependencies}) @@ -110,24 +110,24 @@ target_link_libraries(extract_object_from_scene_test perception::extract_object_ # GenerateTextFromObjets test add_executable(generate_text_from_objects_test src/generate_text_from_objects_test.cpp) ament_target_dependencies(generate_text_from_objects_test ${dependencies}) -target_link_libraries(generate_text_from_objects_test hri::generate_text_from_objects_bt_node) +target_link_libraries(generate_text_from_objects_test robocup_hri::generate_text_from_objects_bt_node) # pick_demo test add_executable(pick_demo_test src/pick_demo_test.cpp) ament_target_dependencies(pick_demo_test ${dependencies}) target_link_libraries(pick_demo_test arm::pick_bt_node - hri::generate_text_from_objects_bt_node + robocup_hri::generate_text_from_objects_bt_node perception::extract_object_from_scene_bt_node perception::extract_collision_scene_bt_node - hri::speak_bt_node - hri::dialogConfirmation_bt_node + robocup_hri::speak_bt_node + robocup_hri::dialogConfirmation_bt_node ) # Ask test add_executable(ask_test src/ask_test.cpp) ament_target_dependencies(ask_test ${dependencies}) -target_link_libraries(ask_test hri::query_bt_node hri::speak_bt_node hri::listen_bt_node hri::dialogConfirmation_bt_node) +target_link_libraries(ask_test robocup_hri::query_bt_node robocup_hri::speak_bt_node robocup_hri::listen_bt_node robocup_hri::dialogConfirmation_bt_node) # init_carry test add_executable(init_carry src/init_carry_test.cpp) @@ -176,8 +176,8 @@ target_link_libraries(set_perception_model_test add_executable(music_test src/music_test.cpp) ament_target_dependencies(music_test ${dependencies}) target_link_libraries(music_test - hri::start_music_bt_node - hri::stop_music_bt_node + robocup_hri::start_music_bt_node + robocup_hri::stop_music_bt_node configuration::sleep_bt_node ) @@ -202,7 +202,7 @@ target_link_libraries(filter_object_test perception::filter_object_bt_node) # extract the description of the person test add_executable(extract_person_description_test src/extract_person_description_test.cpp) ament_target_dependencies(extract_person_description_test ${dependecies}) -target_link_libraries(extract_person_description_test perception::extract_person_description_bt_node perception::is_detected_bt_node hri::speak_bt_node) +target_link_libraries(extract_person_description_test perception::extract_person_description_bt_node perception::is_detected_bt_node robocup_hri::speak_bt_node) # gpsr test add_executable(gpsr_test src/gpsr_test.cpp) @@ -216,12 +216,12 @@ perception::filter_entity_bt_node perception::is_entity_moving_bt_node perception::extract_entity_color_bt_node perception::extract_collision_scene_bt_node -hri::generate_text_from_objects_bt_node -hri::speak_bt_node -hri::dialogConfirmation_bt_node -hri::listen_bt_node -hri::query_bt_node -hri::command_planning_bt_node +robocup_hri::generate_text_from_objects_bt_node +robocup_hri::speak_bt_node +robocup_hri::dialogConfirmation_bt_node +robocup_hri::listen_bt_node +robocup_hri::query_bt_node +robocup_hri::command_planning_bt_node arm::move_to_predefined_bt_node arm::pick_bt_node motion::move_to_bt_node @@ -252,12 +252,12 @@ foreach(test ${GPSR_TESTS}) perception::is_entity_moving_bt_node perception::extract_entity_color_bt_node perception::extract_collision_scene_bt_node - hri::generate_text_from_objects_bt_node - hri::speak_bt_node - hri::dialogConfirmation_bt_node - hri::listen_bt_node - hri::query_bt_node - hri::command_planning_bt_node + robocup_hri::generate_text_from_objects_bt_node + robocup_hri::speak_bt_node + robocup_hri::dialogConfirmation_bt_node + robocup_hri::listen_bt_node + robocup_hri::query_bt_node + robocup_hri::command_planning_bt_node arm::move_to_predefined_bt_node arm::pick_bt_node motion::move_to_bt_node @@ -285,8 +285,8 @@ target_link_libraries(carry_my_luggage_test motion::move_to_bt_node motion::look_at_bt_node motion::configure_navigate_back_bt_node - hri::speak_bt_node - hri::dialogConfirmation_bt_node + robocup_hri::speak_bt_node + robocup_hri::dialogConfirmation_bt_node ) # Follow entity test add_executable(follow_entity_test src/follow_entity_test.cpp) @@ -299,8 +299,8 @@ target_link_libraries(follow_entity_test # motion::move_to_bt_node motion::look_at_bt_node motion::follow_entity_bt_node - # hri::speak_bt_node - # hri::dialogConfirmation_bt_node + # robocup_hri::speak_bt_node + # robocup_hri::dialogConfirmation_bt_node ) # SetBlackboardInt test @@ -320,13 +320,13 @@ target_link_libraries(receptionist_test configuration::set_wp_bt_node # configuration::init_receptionist_bt_node motion::move_to_bt_node - hri::speak_bt_node + robocup_hri::speak_bt_node perception::is_detected_bt_node # perception::store_detection_bt_node motion::look_at_bt_node - hri::listen_bt_node - hri::query_bt_node - hri::dialogConfirmation_bt_node + robocup_hri::listen_bt_node + robocup_hri::query_bt_node + robocup_hri::dialogConfirmation_bt_node # motion::look_around_bt_node perception::is_sittable_bt_node # arm::point_at_bt_node @@ -350,13 +350,13 @@ target_link_libraries(storing_groceries_test configuration::set_wp_bt_node # configuration::init_receptionist_bt_node motion::move_to_bt_node - hri::speak_bt_node + robocup_hri::speak_bt_node perception::is_detected_bt_node # perception::store_detection_bt_node motion::look_at_bt_node - hri::listen_bt_node - hri::query_bt_node - hri::dialogConfirmation_bt_node + robocup_hri::listen_bt_node + robocup_hri::query_bt_node + robocup_hri::dialogConfirmation_bt_node # motion::look_around_bt_node perception::is_sittable_bt_node # arm::point_at_bt_node diff --git a/bt_nodes/bt_test/COLCON_IGNORE b/bt_nodes/bt_test/COLCON_IGNORE new file mode 100644 index 0000000..e69de29 diff --git a/bt_nodes/bt_test/bt_xml/rotate_test.xml b/bt_nodes/bt_test/bt_xml/rotate_test.xml index bc177f7..29e078f 100644 --- a/bt_nodes/bt_test/bt_xml/rotate_test.xml +++ b/bt_nodes/bt_test/bt_xml/rotate_test.xml @@ -1,19 +1,16 @@ - - + - - diff --git a/bt_nodes/configuration/CMakeLists.txt b/bt_nodes/configuration/CMakeLists.txt index b38a213..35451f5 100644 --- a/bt_nodes/configuration/CMakeLists.txt +++ b/bt_nodes/configuration/CMakeLists.txt @@ -14,7 +14,7 @@ find_package(geometry_msgs REQUIRED) find_package(tf2_geometry_msgs REQUIRED) find_package(tf2_ros REQUIRED) find_package(tf2 REQUIRED) -find_package(yolov8_msgs REQUIRED) +# find_package(yolov8_msgs REQUIRED) (juandpenan) todo: uncomment this when pal team finishes testing set(CMAKE_CXX_STANDARD 17) @@ -27,7 +27,7 @@ set(dependencies tf2_geometry_msgs tf2 tf2_ros - yolov8_msgs + # yolov8_msgs (juandpenan) todo: uncomment this when pal team finishes testing ) include_directories(include) @@ -73,8 +73,9 @@ list(APPEND plugin_libs bt_service_node) add_library(get_perception_model_bt_node SHARED src/configuration/get_perception_model.cpp) list(APPEND plugin_libs get_perception_model_bt_node) -add_library(set_perception_model_bt_node SHARED src/configuration/set_perception_model.cpp) -list(APPEND plugin_libs set_perception_model_bt_node) +# (juandpenan) todo: uncomment this when pal team finishes testing +# add_library(set_perception_model_bt_node SHARED src/configuration/set_perception_model.cpp) +# list(APPEND plugin_libs set_perception_model_bt_node) add_library(init_protected_queue_bt_node SHARED src/configuration/init_queue.cpp) list(APPEND plugin_libs init_protected_queue_bt_node) diff --git a/bt_nodes/configuration/package.xml b/bt_nodes/configuration/package.xml index 6ebcbc9..dcc7034 100644 --- a/bt_nodes/configuration/package.xml +++ b/bt_nodes/configuration/package.xml @@ -16,7 +16,7 @@ behaviortree_cpp_v3 geometry_msgs tf2_geometry_msgs - yolov8_msgs + ament_lint_auto ament_lint_common diff --git a/bt_nodes/hri/CMakeLists.txt b/bt_nodes/hri/CMakeLists.txt deleted file mode 100644 index 9b9ea88..0000000 --- a/bt_nodes/hri/CMakeLists.txt +++ /dev/null @@ -1,105 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(hri) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies -find_package(ament_cmake REQUIRED) -find_package(rclcpp REQUIRED) -find_package(rclcpp_cascade_lifecycle REQUIRED) -find_package(rclcpp_action REQUIRED) -find_package(behaviortree_cpp_v3 REQUIRED) -find_package(audio_common_msgs REQUIRED) -find_package(whisper_msgs REQUIRED) -find_package(llama_msgs REQUIRED) -find_package(moveit_msgs REQUIRED) -find_package(shape_msgs REQUIRED) -find_package(std_msgs REQUIRED) -find_package(std_srvs REQUIRED) -find_package(sensor_msgs REQUIRED) -find_package(gpsr_msgs REQUIRED) -find_package(audio_common_msgs REQUIRED) -set(CMAKE_CXX_STANDARD 17) - -set(dependencies - rclcpp - rclcpp_cascade_lifecycle - rclcpp_action - behaviortree_cpp_v3 - audio_common_msgs - whisper_msgs - llama_msgs - moveit_msgs - shape_msgs - std_msgs - sensor_msgs - gpsr_msgs - std_srvs - audio_common_msgs -) - -include_directories(include) - -add_library(speak_bt_node SHARED src/hri/dialog/Speak.cpp) -list(APPEND plugin_libs speak_bt_node) - -add_library(dialogConfirmation_bt_node SHARED src/hri/dialog/DialogConfirmation.cpp) -list(APPEND plugin_libs dialogConfirmation_bt_node) - -add_library(query_bt_node SHARED src/hri/dialog/Query.cpp) -list(APPEND plugin_libs query_bt_node) - -add_library(listen_bt_node SHARED src/hri/dialog/Listen.cpp) -list(APPEND plugin_libs listen_bt_node) - -add_library(generate_text_from_objects_bt_node SHARED src/hri/GenerateTextFromObjects.cpp) -list(APPEND plugin_libs generate_text_from_objects_bt_node) - -add_library(store_detection_bt_node SHARED src/hri/dialog/store_detection.cpp) -list(APPEND plugin_libs store_detection_bt_node) - -add_library(choose_from_classes_bt_node SHARED src/hri/dialog/choose_from_classes.cpp) -list(APPEND plugin_libs choose_from_classes_bt_node) - -add_library(check_policy_bt_node SHARED src/hri/check_policy.cpp) -list(APPEND plugin_libs check_policy_bt_node) - -add_library(command_planning_bt_node SHARED src/hri/CommandPlanning.cpp) -list(APPEND plugin_libs command_planning_bt_node) - -add_library(start_music_bt_node SHARED src/hri/start_music.cpp) -list(APPEND plugin_libs start_music_bt_node) - -add_library(stop_music_bt_node SHARED src/hri/stop_music.cpp) -list(APPEND plugin_libs stop_music_bt_node) - -foreach(bt_plugin ${plugin_libs}) -ament_target_dependencies(${bt_plugin} ${dependencies}) -target_compile_definitions(${bt_plugin} PRIVATE BT_PLUGIN_EXPORT) -endforeach() - -install(TARGETS -${plugin_libs} -EXPORT ${PROJECT_NAME} -ARCHIVE DESTINATION lib -LIBRARY DESTINATION lib -RUNTIME DESTINATION lib/${PROJECT_NAME} -) - -install(DIRECTORY include/ -DESTINATION include/ -) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - set(ament_cmake_copyright_FOUND TRUE) - set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -ament_export_dependencies(${dependencies}) -ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET) - -ament_package() diff --git a/bt_nodes/motion/CMakeLists.txt b/bt_nodes/motion/CMakeLists.txt index 964131b..3d8e446 100644 --- a/bt_nodes/motion/CMakeLists.txt +++ b/bt_nodes/motion/CMakeLists.txt @@ -12,7 +12,6 @@ find_package(rclcpp_action REQUIRED) find_package(behaviortree_cpp_v3 REQUIRED) find_package(geometry_msgs REQUIRED) find_package(nav2_msgs REQUIRED) -find_package(attention_system REQUIRED) find_package(tf2_ros REQUIRED) find_package(tf2_geometry_msgs REQUIRED) find_package(tf2 REQUIRED) @@ -23,11 +22,11 @@ find_package(slam_toolbox REQUIRED) find_package(ament_index_cpp REQUIRED) find_package(trajectory_msgs REQUIRED) find_package(lifecycle_msgs REQUIRED) -find_package(attention_system_msgs REQUIRED) find_package(trajectory_msgs REQUIRED) find_package(sensor_msgs REQUIRED) find_package(manipulation_interfaces REQUIRED) find_package(action_msgs REQUIRED) +find_package(hri_msgs REQUIRED) set(CMAKE_CXX_STANDARD 17) @@ -41,7 +40,7 @@ set(dependencies tf2_ros tf2_geometry_msgs tf2 - attention_system + # attention_system nav2_costmap_2d pluginlib navigation_system_interfaces @@ -49,11 +48,11 @@ set(dependencies ament_index_cpp trajectory_msgs lifecycle_msgs - attention_system_msgs trajectory_msgs sensor_msgs - manipulation_interfaces + # manipulation_interfaces (juandpenan) todo: uncomment this when pal team finishes testing action_msgs + hri_msgs ) include_directories(include) @@ -89,11 +88,13 @@ list(APPEND plugin_libs move_along_axis_bt_node) add_library(rotate_bt_node SHARED src/motion/base/Rotate.cpp) list(APPEND plugin_libs rotate_bt_node) -add_library(set_torso_height_bt_node SHARED src/motion/torso/set_torso_height.cpp) -list(APPEND plugin_libs set_torso_height_bt_node) +# add_library(set_torso_height_bt_node SHARED src/motion/torso/set_torso_height.cpp) +# list(APPEND plugin_libs set_torso_height_bt_node) -add_library(set_head_joint_position_bt_node SHARED src/motion/head/set_joint_position.cpp) -list(APPEND plugin_libs set_head_joint_position_bt_node) +# add_library(set_head_joint_position_bt_node SHARED src/motion/head/set_joint_position.cpp) +# list(APPEND plugin_libs set_head_joint_position_bt_node) + +# (juandpenan) todo: uncomment this when pal team finishes testing foreach(bt_plugin ${plugin_libs}) ament_target_dependencies(${bt_plugin} ${dependencies}) diff --git a/bt_nodes/motion/include/motion/head/LookAt.hpp b/bt_nodes/motion/include/motion/head/LookAt.hpp index 2a134a9..7d8e40c 100644 --- a/bt_nodes/motion/include/motion/head/LookAt.hpp +++ b/bt_nodes/motion/include/motion/head/LookAt.hpp @@ -20,10 +20,9 @@ #include #include -#include "attention_system_msgs/msg/attention_command.hpp" #include "behaviortree_cpp_v3/behavior_tree.h" #include "behaviortree_cpp_v3/bt_factory.h" -#include "geometry_msgs/msg/pose_stamped.hpp" +#include "geometry_msgs/msg/point_stamped.hpp" #include "nav2_msgs/action/navigate_to_pose.hpp" #include "rclcpp/rclcpp.hpp" #include "rclcpp_action/rclcpp_action.hpp" @@ -44,8 +43,7 @@ class LookAt : public BT::ActionNodeBase static BT::PortsList providedPorts() { return BT::PortsList( - {BT::InputPort>("tf_frames"), - BT::InputPort("tf_frame")}); + {BT::InputPort("tf_frame")}); } private: @@ -53,7 +51,7 @@ class LookAt : public BT::ActionNodeBase geometry_msgs::msg::PoseStamped pose_; - rclcpp_lifecycle::LifecyclePublisher::SharedPtr + rclcpp_lifecycle::LifecyclePublisher::SharedPtr attention_points_pub_; std::vector tf_frames_; diff --git a/bt_nodes/motion/include/motion/navigation/follow_entity.hpp b/bt_nodes/motion/include/motion/navigation/follow_entity.hpp index 59909ea..e9d0880 100644 --- a/bt_nodes/motion/include/motion/navigation/follow_entity.hpp +++ b/bt_nodes/motion/include/motion/navigation/follow_entity.hpp @@ -89,6 +89,7 @@ class FollowEntity : public BT::ActionNodeBase double distance_tolerance_, substracted_distance_ = 0.6, distance_to_entity_ = 0.0; double x_axis_max_, x_axis_min_, y_axis_max_, y_axis_min_; bool is_goal_sent_ = false; + int abort_counter_ = 0; // double magnitude; // double scale; geometry_msgs::msg::TransformStamped entity_transform_; diff --git a/bt_nodes/motion/include/motion/navigation/nav2_plugins/clear_people_layer.hpp b/bt_nodes/motion/include/motion/navigation/nav2_plugins/clear_people_layer.hpp index abc6d22..95c3037 100644 --- a/bt_nodes/motion/include/motion/navigation/nav2_plugins/clear_people_layer.hpp +++ b/bt_nodes/motion/include/motion/navigation/nav2_plugins/clear_people_layer.hpp @@ -1,10 +1,13 @@ #ifndef MOTION_NAVIGATION_NAV2_PLUGINS_CLEAR_PEOPLE_LAYER_HPP_ #define MOTION_NAVIGATION_NAV2_PLUGINS_CLEAR_PEOPLE_LAYER_HPP_ +#include + #include "geometry_msgs/msg/transform_stamped.hpp" #include "nav2_costmap_2d/layer.hpp" #include "nav2_costmap_2d/layered_costmap.hpp" #include "rclcpp/rclcpp.hpp" +#include "hri_msgs/msg/ids_list.hpp" #include "tf2_ros/buffer.h" namespace nav2_costmap_2d @@ -34,6 +37,9 @@ class ClearPeopleLayer : public Layer const geometry_msgs::msg::TransformStamped & person_transform, nav2_costmap_2d::Costmap2D & master_grid); double last_min_x_, last_min_y_, last_max_x_, last_max_y_; + rclcpp::Subscription::SharedPtr ids_list_sub_; + void idsListCallback(const hri_msgs::msg::IdsList::SharedPtr msg); + std::mutex id_list_msg_mutex_; std::string person_frame_{}; geometry_msgs::msg::TransformStamped person_transform_; double person_radius_; diff --git a/bt_nodes/motion/package.xml b/bt_nodes/motion/package.xml index d24ec33..297bd8a 100644 --- a/bt_nodes/motion/package.xml +++ b/bt_nodes/motion/package.xml @@ -19,7 +19,7 @@ nav2_behavior_tree nav2_costmap_2d navigation_system_interfaces - manipulation_interfaces + slam_toolbox attention_system diff --git a/bt_nodes/motion/src/motion/head/LookAt.cpp b/bt_nodes/motion/src/motion/head/LookAt.cpp index c3a3060..0040d7d 100644 --- a/bt_nodes/motion/src/motion/head/LookAt.cpp +++ b/bt_nodes/motion/src/motion/head/LookAt.cpp @@ -21,16 +21,14 @@ LookAt::LookAt(const std::string & xml_tag_name, const BT::NodeConfiguration & c : BT::ActionNodeBase(xml_tag_name, conf) { config().blackboard->get("node", node_); - node_->add_activation("attention_server"); - attention_points_pub_ = node_->create_publisher( - "attention/attention_command", 1); + attention_points_pub_ = node_->create_publisher( + "/look_at", 1); attention_points_pub_->on_activate(); } BT::NodeStatus LookAt::tick() { RCLCPP_DEBUG(node_->get_logger(), "LookAt ticked"); - getInput("tf_frames", tf_frames_); getInput("tf_frame", tf_frame_); if (status() == BT::NodeStatus::IDLE) { @@ -40,22 +38,15 @@ BT::NodeStatus LookAt::tick() std::string goal_frame; - if (tf_frames_.size() == 0 && !tf_frame_.empty()) { - goal_frame = tf_frame_; - } else if (tf_frames_.size() > 0) { - goal_frame = tf_frames_[0]; - } else { + if (tf_frame_.empty()) { RCLCPP_ERROR(node_->get_logger(), "No goal frame provided"); - return BT::NodeStatus::RUNNING; - } + return BT::NodeStatus::FAILURE; + } - attention_system_msgs::msg::AttentionCommand attention_command_msg; + geometry_msgs::msg::PointStamped attention_command_msg; RCLCPP_INFO(node_->get_logger(), "LookAt tf_frame_: %s", goal_frame.c_str()); - - attention_command_msg.frame_id_to_track = goal_frame; - + attention_command_msg.header.frame_id = tf_frame_; attention_points_pub_->publish(attention_command_msg); - RCLCPP_INFO(node_->get_logger(), "LookAt published attention points"); return BT::NodeStatus::SUCCESS; } diff --git a/bt_nodes/motion/src/motion/navigation/follow_entity.cpp b/bt_nodes/motion/src/motion/navigation/follow_entity.cpp index 6bfd017..a030bbe 100644 --- a/bt_nodes/motion/src/motion/navigation/follow_entity.cpp +++ b/bt_nodes/motion/src/motion/navigation/follow_entity.cpp @@ -123,6 +123,9 @@ BT::NodeStatus FollowEntity::tick() if (status() == BT::NodeStatus::IDLE || !is_goal_sent_) { return on_idle(); } + if (abort_counter_ > 5) { + return BT::NodeStatus::FAILURE; + } // if (current_pos_ != geometry_msgs::msg::PoseWithCovarianceStamped()) { // check_robot_inside_map(); // } @@ -269,6 +272,9 @@ void FollowEntity::goal_status_callback(const action_msgs::msg::GoalStatusArray: { is_goal_sent_ = false; } + if (status == action_msgs::msg::GoalStatus::STATUS_ABORTED) { + abort_counter_++; + } } } diff --git a/bt_nodes/motion/src/motion/navigation/nav2_plugins/clear_people_layer.cpp b/bt_nodes/motion/src/motion/navigation/nav2_plugins/clear_people_layer.cpp index 64a870a..302a084 100644 --- a/bt_nodes/motion/src/motion/navigation/nav2_plugins/clear_people_layer.cpp +++ b/bt_nodes/motion/src/motion/navigation/nav2_plugins/clear_people_layer.cpp @@ -21,7 +21,6 @@ namespace nav2_costmap_2d // of need_recalculation_ variable. void ClearPeopleLayer::onInitialize() { - declareParameter("person_frame", rclcpp::ParameterValue("person_0")); declareParameter("person_radius", rclcpp::ParameterValue(0.5)); const auto node = node_.lock(); @@ -33,24 +32,33 @@ void ClearPeopleLayer::onInitialize() throw std::runtime_error("ClearPeopleLayer::onInitialize: Failed to initialize tf buffer"); } - // Declaring ROS parameters: - auto getString = [&](const std::string & parameter_name) { - std::string param{}; - node->get_parameter(name_ + "." + parameter_name, param); - return param; - }; auto getDouble = [&](const std::string & parameter_name) { double param{}; node->get_parameter(name_ + "." + parameter_name, param); return param; }; - person_frame_ = getString("person_frame"); person_radius_ = getDouble("person_radius"); + // Create a subscription to the hri_msgs/msg/IdsList topic + ids_list_sub_ = node->create_subscription( + "/humans/bodies/tracked", 10, + std::bind(&ClearPeopleLayer::idsListCallback, this, std::placeholders::_1)); + RCLCPP_INFO(logger_, "Initialized plugin clear_people_layer"); } +void ClearPeopleLayer::idsListCallback(const hri_msgs::msg::IdsList::SharedPtr msg) +{ + id_list_msg_mutex_.lock(); + if (!msg->ids.empty()) { + person_frame_ = msg->ids[0]; // Assuming the first ID is the person to track + } else { + person_frame_.clear(); + } + id_list_msg_mutex_.unlock(); +} + // The method is called to ask the plugin: which area of costmap it needs to update. // Inside this method window bounds are re-calculated if need_recalculation_ is true // and updated independently on its value. @@ -74,9 +82,18 @@ void ClearPeopleLayer::updateCosts( // if (!enabled_) { // return; // } + std::string current_person_frame; + id_list_msg_mutex_.lock(); + current_person_frame = person_frame_; + person_frame_ = ""; + id_list_msg_mutex_.unlock(); + + if (current_person_frame.empty()) { + return; + } try { - person_transform_ = tf_->lookupTransform("map", person_frame_, tf2::TimePointZero); + person_transform_ = tf_->lookupTransform("map", "waist_"+person_frame_, tf2::TimePointZero); } catch (std::exception & ex) { RCLCPP_ERROR( logger_, "ClearPeopleLayer::updateCosts error transforming map to %s : %s ", @@ -117,7 +134,7 @@ void ClearPeopleLayer::removePerson( for (int i = person_x - person_radius_cells; i <= person_x + person_radius_cells; i++) { int index = master_grid.getIndex(i, j); master[index] = FREE_SPACE; - // master_grid.setCost(i, j, FREE_SPACE); + // master_grid.setCost(i, j, FREE_SPACE) } } } diff --git a/bt_nodes/perception/CMakeLists.txt b/bt_nodes/perception/CMakeLists.txt index e7dfc2b..a1a0d49 100644 --- a/bt_nodes/perception/CMakeLists.txt +++ b/bt_nodes/perception/CMakeLists.txt @@ -18,13 +18,13 @@ find_package(geometry_msgs REQUIRED) find_package(tf2_geometry_msgs REQUIRED) find_package(tf2 REQUIRED) find_package(rclcpp_action REQUIRED) -find_package(perception_system REQUIRED) +# find_package(perception_system REQUIRED) (juandpenan) todo: uncomment this when pal team finishes testing find_package(OpenCV REQUIRED) -find_package(perception_system_interfaces REQUIRED) +# find_package(perception_system_interfaces REQUIRED) (juandpenan) todo: uncomment this when pal team finishes testing find_package(sensor_msgs REQUIRED) find_package(std_srvs REQUIRED) -# find_package(backward_ros REQUIRED) - +find_package(hri REQUIRED) +find_package(hri_msgs REQUIRED) set(CMAKE_CXX_STANDARD 17) @@ -42,78 +42,89 @@ set(dependencies tf2 rclcpp_action behaviortree_cpp_v3 - perception_system + # perception_system (juandpenan) todo: uncomment this when pal team finishes testing OpenCV - perception_system_interfaces + # perception_system_interfaces (juandpenan) todo: uncomment this when pal team finishes testing sensor_msgs std_srvs - # vqa_interfaces - # backward_ros + hri + hri_msgs ) include_directories(include) -add_library(extract_object_from_scene_bt_node SHARED src/perception/ExtractObjectsFromScene.cpp) -list(APPEND plugin_libs extract_object_from_scene_bt_node) +# add_library(extract_object_from_scene_bt_node SHARED src/perception/ExtractObjectsFromScene.cpp) +# list(APPEND plugin_libs extract_object_from_scene_bt_node) + +# add_library(convert_color_bt_node SHARED src/perception/convert_color.cpp) +# list(APPEND plugin_libs convert_color_bt_node) + +# add_library(is_detected_bt_node SHARED src/perception/IsDetected.cpp) +# list(APPEND plugin_libs is_detected_bt_node) + +# add_library(follow_person_bt_node SHARED src/perception/FollowPerson.cpp) +# list(APPEND plugin_libs follow_person_bt_node) + +# add_library(extract_collision_scene_bt_node SHARED src/perception/extract_collision_scene.cpp) +# list(APPEND plugin_libs extract_collision_scene_bt_node) -add_library(convert_color_bt_node SHARED src/perception/convert_color.cpp) -list(APPEND plugin_libs convert_color_bt_node) +# add_library(is_entity_moving_bt_node SHARED src/perception/is_entity_moving.cpp) +# list(APPEND plugin_libs is_entity_moving_bt_node) -add_library(is_detected_bt_node SHARED src/perception/IsDetected.cpp) -list(APPEND plugin_libs is_detected_bt_node) +# add_library(is_moving_bt_node SHARED src/perception/is_moving.cpp) +# list(APPEND plugin_libs is_moving_bt_node) -add_library(follow_person_bt_node SHARED src/perception/FollowPerson.cpp) -list(APPEND plugin_libs follow_person_bt_node) +# add_library(filter_entity_bt_node SHARED src/perception/filter_entity.cpp) +# list(APPEND plugin_libs filter_entity_bt_node) -add_library(extract_collision_scene_bt_node SHARED src/perception/extract_collision_scene.cpp) -list(APPEND plugin_libs extract_collision_scene_bt_node) +# add_library(is_pointing_bt_node SHARED src/perception/is_pointing.cpp) +# list(APPEND plugin_libs is_pointing_bt_node) -add_library(is_entity_moving_bt_node SHARED src/perception/is_entity_moving.cpp) -list(APPEND plugin_libs is_entity_moving_bt_node) +# add_library(extract_entity_color_bt_node SHARED src/perception/extract_entity_color.cpp) +# list(APPEND plugin_libs extract_entity_color_bt_node) -add_library(is_moving_bt_node SHARED src/perception/is_moving.cpp) -list(APPEND plugin_libs is_moving_bt_node) +# add_library(is_sittable_bt_node SHARED src/perception/is_sittable.cpp) +# list(APPEND plugin_libs is_sittable_bt_node) -add_library(filter_entity_bt_node SHARED src/perception/filter_entity.cpp) -list(APPEND plugin_libs filter_entity_bt_node) +# add_library(is_door_open_bt_node SHARED src/perception/IsDoorOpen.cpp) +# list(APPEND plugin_libs is_door_open_bt_node) -add_library(is_pointing_bt_node SHARED src/perception/is_pointing.cpp) -list(APPEND plugin_libs is_pointing_bt_node) +# add_library(extract_cabinet_place_pose_bt_node SHARED src/perception/extract_cabinet_place_pose.cpp) +# list(APPEND plugin_libs extract_cabinet_place_pose_bt_node) -add_library(extract_entity_color_bt_node SHARED src/perception/extract_entity_color.cpp) -list(APPEND plugin_libs extract_entity_color_bt_node) +# add_library(is_gesturing_bt_node SHARED src/perception/is_gesturing.cpp) +# list(APPEND plugin_libs is_gesturing_bt_node) -add_library(is_sittable_bt_node SHARED src/perception/is_sittable.cpp) -list(APPEND plugin_libs is_sittable_bt_node) +# add_library(count_people_bt_node SHARED src/perception/count_people.cpp) +# list(APPEND plugin_libs count_people_bt_node) -add_library(is_door_open_bt_node SHARED src/perception/IsDoorOpen.cpp) -list(APPEND plugin_libs is_door_open_bt_node) +# add_library(filter_object_bt_node SHARED src/perception/filter_object.cpp) +# list(APPEND plugin_libs filter_object_bt_node) -add_library(extract_cabinet_place_pose_bt_node SHARED src/perception/extract_cabinet_place_pose.cpp) -list(APPEND plugin_libs extract_cabinet_place_pose_bt_node) +# add_library(filter_prev_detections_bt_node SHARED src/perception/filter_prev_detections.cpp) +# list(APPEND plugin_libs filter_prev_detections_bt_node) -add_library(is_gesturing_bt_node SHARED src/perception/is_gesturing.cpp) -list(APPEND plugin_libs is_gesturing_bt_node) +# add_library(extract_person_description_bt_node SHARED src/perception/extract_person_description.cpp) +# list(APPEND plugin_libs extract_person_description_bt_node) +# add_library(clear_octomap_bt_node SHARED src/perception/clear_octomap.cpp) +# list(APPEND plugin_libs clear_octomap_bt_node) -add_library(count_people_bt_node SHARED src/perception/count_people.cpp) -list(APPEND plugin_libs count_people_bt_node) +# add_library(switch_yolo_model_bt_node SHARED src/perception/switch_yolo_model.cpp) +# list(APPEND plugin_libs switch_yolo_model_bt_node) -add_library(filter_object_bt_node SHARED src/perception/filter_object.cpp) -list(APPEND plugin_libs filter_object_bt_node) +# add_library(extract_pc_from_class_bt_node SHARED src/perception/extract_pc_from_class.cpp) +# list(APPEND plugin_libs extract_pc_from_class_bt_node) -add_library(filter_prev_detections_bt_node SHARED src/perception/filter_prev_detections.cpp) -list(APPEND plugin_libs filter_prev_detections_bt_node) +# (juandpenan) todo: uncomment this when pal team finishes testing -add_library(extract_person_description_bt_node SHARED src/perception/extract_person_description.cpp) -list(APPEND plugin_libs extract_person_description_bt_node) -add_library(clear_octomap_bt_node SHARED src/perception/clear_octomap.cpp) -list(APPEND plugin_libs clear_octomap_bt_node) +add_library(is_face_detected_bt_node SHARED src/perception/is_face_detected.cpp) +list(APPEND plugin_libs is_face_detected_bt_node) -add_library(switch_yolo_model_bt_node SHARED src/perception/switch_yolo_model.cpp) -list(APPEND plugin_libs switch_yolo_model_bt_node) +add_library(is_body_detected_bt_node SHARED src/perception/is_body_detected.cpp) +list(APPEND plugin_libs is_body_detected_bt_node) -add_library(extract_pc_from_class_bt_node SHARED src/perception/extract_pc_from_class.cpp) -list(APPEND plugin_libs extract_pc_from_class_bt_node) +add_library(pal_is_pointing_bt_node SHARED src/perception/pal_is_pointing.cpp) +list(APPEND plugin_libs pal_is_pointing_bt_node) foreach(bt_plugin ${plugin_libs}) ament_target_dependencies(${bt_plugin} ${dependencies}) diff --git a/bt_nodes/perception/include/perception/is_body_detected.hpp b/bt_nodes/perception/include/perception/is_body_detected.hpp new file mode 100644 index 0000000..c88a2ad --- /dev/null +++ b/bt_nodes/perception/include/perception/is_body_detected.hpp @@ -0,0 +1,75 @@ +// Copyright 2024 Intelligent Robotics Lab - Gentlebots +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef PERCEPTION__IS_BODY_DETECTED_HPP_ +#define PERCEPTION__IS_BODY_DETECTED_HPP_ + +// #include +// #include + +#include + + +#include + +#include "behaviortree_cpp_v3/behavior_tree.h" +#include "behaviortree_cpp_v3/bt_factory.h" +#include "geometry_msgs/msg/pose_stamped.hpp" +#include "geometry_msgs/msg/transform_stamped.hpp" +#include "hri_msgs/msg/ids_list.hpp" +#include "hri_msgs/msg/skeleton2_d.hpp" +#include "rclcpp/rclcpp.hpp" +#include "rclcpp/executor.hpp" +#include "rclcpp_cascade_lifecycle/rclcpp_cascade_lifecycle.hpp" + + +namespace perception +{ + + +class IsBodyDetected : public BT::ConditionNode +{ +public: + explicit IsBodyDetected(const std::string & xml_tag_name, const BT::NodeConfiguration & conf); + + BT::NodeStatus tick(); + + static BT::PortsList providedPorts() + { + return BT::PortsList( + {BT::InputPort("max_entities"), + BT::InputPort("cam_frame"), + BT::InputPort("max_depth"), + BT::OutputPort("best_detection"), + BT::OutputPort>("bodies")}); + } + +private: + std::string cam_frame_; + double max_depth_; + int max_entities_; + std::int64_t person_id_; + std::vector ids_; + + std::shared_ptr node_; + std::shared_ptr executor_; + rclcpp::Subscription::SharedPtr ids_list_sub_; + hri_msgs::msg::IdsList::SharedPtr last_ids_list_msg_; + +}; + + +} // namespace perception + +#endif // PERCEPTION__IS_BODY_DETECTED_HPP_ diff --git a/bt_nodes/perception/include/perception/is_face_detected.hpp b/bt_nodes/perception/include/perception/is_face_detected.hpp new file mode 100644 index 0000000..64d4e2b --- /dev/null +++ b/bt_nodes/perception/include/perception/is_face_detected.hpp @@ -0,0 +1,75 @@ +// Copyright 2024 Intelligent Robotics Lab - Gentlebots +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef PERCEPTION__IS_FACE_DETECTED_HPP_ +#define PERCEPTION__IS_FACE_DETECTED_HPP_ + +// #include +// #include + +#include + + +#include + +#include "behaviortree_cpp_v3/behavior_tree.h" +#include "behaviortree_cpp_v3/bt_factory.h" +#include "geometry_msgs/msg/pose_stamped.hpp" +#include "geometry_msgs/msg/transform_stamped.hpp" +#include "hri/hri.hpp" +#include "hri/face.hpp" +#include "rclcpp/rclcpp.hpp" +#include "rclcpp_cascade_lifecycle/rclcpp_cascade_lifecycle.hpp" + + +namespace perception +{ + + +class IsFaceDetected : public BT::ConditionNode +{ +public: + explicit IsFaceDetected(const std::string & xml_tag_name, const BT::NodeConfiguration & conf); + + BT::NodeStatus tick(); + + static BT::PortsList providedPorts() + { + return BT::PortsList( + {BT::InputPort("max_entities"), + BT::InputPort("cam_frame"), + BT::InputPort("max_depth"), + BT::OutputPort("best_detection"), + BT::OutputPort>("faces")}); + } + +private: + std::string cam_frame_; + double max_depth_; + int max_entities_; + std::int64_t person_id_; + std::map faces_; + std::vector> ordered_faces_; + std::vector ids_; + + std::shared_ptr node_; + std::shared_ptr hri_listener_; + + +}; + + +} // namespace perception + +#endif // PERCEPTION__IS_FACE_DETECTED_HPP_ diff --git a/bt_nodes/perception/include/perception/pal_is_pointing.hpp b/bt_nodes/perception/include/perception/pal_is_pointing.hpp new file mode 100644 index 0000000..b799824 --- /dev/null +++ b/bt_nodes/perception/include/perception/pal_is_pointing.hpp @@ -0,0 +1,79 @@ +// Copyright 2024 Intelligent Robotics Lab - Gentlebots +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef PERCEPTION__PAL_IS_POINTING_HPP_ +#define PERCEPTION__PAL_IS_POINTING_HPP_ + +#include +#include +#include +#include + +#include +#include +#include +#include "hri_msgs/msg/ids_list.hpp" +#include "hri_msgs/msg/skeleton2_d.hpp" + +#include "behaviortree_cpp_v3/behavior_tree.h" +#include "behaviortree_cpp_v3/bt_factory.h" +#include "geometry_msgs/msg/pose_stamped.hpp" +#include "geometry_msgs/msg/transform_stamped.hpp" +#include "rclcpp/rclcpp.hpp" +#include +#include "rclcpp_cascade_lifecycle/rclcpp_cascade_lifecycle.hpp" + +namespace perception +{ + +class PalIsPointing : public BT::ConditionNode +{ +public: + explicit PalIsPointing(const std::string & xml_tag_name, const BT::NodeConfiguration & conf); + + BT::NodeStatus tick(); + ~PalIsPointing() override; + static BT::PortsList providedPorts() + { + return BT::PortsList( + {BT::InputPort("person_id"), + BT::InputPort("cam_frame"), + BT::InputPort("low_pointing_limit"), + BT::InputPort("high_pointing_limit"), + BT::OutputPort("output_frame") + }); + } + +private: + + std::shared_ptr node_; + rclcpp::Subscription::SharedPtr ids_list_sub_; + + hri_msgs::msg::IdsList::SharedPtr last_ids_list_msg_; + + std::string camera_frame_, current_id_, output_frame_, best_detection_so_far_, suffix_{"bag"}; + + std::int64_t person_id_; + int low_pointing_limit_, high_pointing_limit_; + bool subs_created_{false}, update_subs_{false}; + geometry_msgs::msg::TransformStamped person_pose_; + rclcpp::Time last_pose_; + + std::shared_ptr tf_buffer_; + std::shared_ptr tf_static_broadcaster_; +}; + +} // namespace perception + +#endif // PERCEPTION__PAL_IS_POINTING_HPP_ diff --git a/bt_nodes/perception/package.xml b/bt_nodes/perception/package.xml index 49d279d..dd68cf5 100644 --- a/bt_nodes/perception/package.xml +++ b/bt_nodes/perception/package.xml @@ -16,7 +16,7 @@ rclcpp rclcpp_cascade_lifecycle behaviortree_cpp_v3 - yolov8_msgs + moveit_msgs shape_msgs rclpy @@ -25,9 +25,10 @@ tf2_geometry_msgs tf2 rclcpp_action - perception_system - perception_system_interfaces + sensor_msgs + hri ament_lint_auto ament_lint_common diff --git a/bt_nodes/perception/src/perception/is_body_detected.cpp b/bt_nodes/perception/src/perception/is_body_detected.cpp new file mode 100644 index 0000000..9d73e1f --- /dev/null +++ b/bt_nodes/perception/src/perception/is_body_detected.cpp @@ -0,0 +1,63 @@ +// Copyright 2024 Intelligent Robotics Lab - Gentlebots +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "perception/is_body_detected.hpp" + +#include +#include +#include + +#include "behaviortree_cpp_v3/behavior_tree.h" +#include "sensor_msgs/msg/image.hpp" + +namespace perception +{ + +using namespace std::chrono_literals; +using namespace std::placeholders; + +IsBodyDetected::IsBodyDetected(const std::string & xml_tag_name, const BT::NodeConfiguration & conf) +: BT::ConditionNode(xml_tag_name, conf), + max_depth_(std::numeric_limits::max()), + max_entities_(1) +{ + config().blackboard->get("node", node_); + ids_list_sub_ = node_->create_subscription( + "/humans/bodies/tracked", 10, + [this](const hri_msgs::msg::IdsList::SharedPtr msg) { + RCLCPP_INFO_ONCE(node_->get_logger(), "IDs list received"); + last_ids_list_msg_ = msg; + }); +} + +BT::NodeStatus IsBodyDetected::tick() +{ + rclcpp::spin_some(node_->get_node_base_interface()); + if (!last_ids_list_msg_) { + RCLCPP_ERROR(node_->get_logger(), "[IsBodyDetected] No bodies detected so far"); + return BT::NodeStatus::FAILURE; + } + if (last_ids_list_msg_->ids.empty()) { + RCLCPP_ERROR(node_->get_logger(), "[IsBodyDetected] No bodies detected"); + return BT::NodeStatus::FAILURE; + } + setOutput("best_detection", "waist_"+last_ids_list_msg_->ids[0]); + return BT::NodeStatus::SUCCESS; +} + +} // namespace perception + +BT_REGISTER_NODES(factory) { + factory.registerNodeType("IsBodyDetected"); +} diff --git a/bt_nodes/perception/src/perception/is_face_detected.cpp b/bt_nodes/perception/src/perception/is_face_detected.cpp new file mode 100644 index 0000000..28a7edb --- /dev/null +++ b/bt_nodes/perception/src/perception/is_face_detected.cpp @@ -0,0 +1,106 @@ +// Copyright 2024 Intelligent Robotics Lab - Gentlebots +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "perception/is_face_detected.hpp" + +#include +#include +#include + +#include "behaviortree_cpp_v3/behavior_tree.h" +#include "sensor_msgs/msg/image.hpp" + +namespace perception +{ + +using namespace std::chrono_literals; +using namespace std::placeholders; + +IsFaceDetected::IsFaceDetected(const std::string & xml_tag_name, const BT::NodeConfiguration & conf) +: BT::ConditionNode(xml_tag_name, conf), + max_depth_(std::numeric_limits::max()), + max_entities_(1) +{ + config().blackboard->get("node", node_); + hri_listener_ = hri::HRIListener::create(node_); + + + getInput("cam_frame", cam_frame_); + getInput("max_entities", max_entities_); + getInput("max_depth", max_depth_); + + hri_listener_->setReferenceFrame(cam_frame_); +} + +BT::NodeStatus IsFaceDetected::tick() +{ + faces_ = hri_listener_->getFaces(); + + if (faces_.size() == 0) { + RCLCPP_ERROR(node_->get_logger(), "[IsFaceDetected] No faces detected"); + return BT::NodeStatus::FAILURE; + } + + // check for the distance : + for (auto & face : faces_) { + auto transform = face.second->gazeTransform(); + if (!transform.has_value()) { + continue; + } + auto transform_value = transform.value(); + auto distance = std::hypot(transform_value.transform.translation.x, + transform_value.transform.translation.y, + transform_value.transform.translation.z); + if (distance > max_depth_) { + faces_.erase(face.first); + } + } + + if (faces_.size() == 0) { + RCLCPP_ERROR(node_->get_logger(), "[IsFaceDetected] No faces detected within the distance"); + return BT::NodeStatus::FAILURE; + } + + // order the faces by distance + ordered_faces_ = std::vector>(faces_.begin(), faces_.end()); + std::sort(ordered_faces_.begin(), ordered_faces_.end(), [](auto & a, auto & b) { + auto transform_a = a.second->gazeTransform().value(); + auto transform_b = b.second->gazeTransform().value(); + return std::hypot(transform_a.transform.translation.x, + transform_a.transform.translation.y, + transform_a.transform.translation.z) < + std::hypot(transform_b.transform.translation.x, + transform_b.transform.translation.y, + transform_b.transform.translation.z); + }); + + // get the ID of the best detection + setOutput("best_detection", ordered_faces_.front().first); + auto i = 0; + for (const auto& pair : ordered_faces_) { + ids_.push_back(pair.first); + if (++i >= max_entities_) { + break; + } + } + setOutput("faces", ids_); + ids_.clear(); + return BT::NodeStatus::SUCCESS; +} + +} // namespace perception + +BT_REGISTER_NODES(factory) { + factory.registerNodeType("IsFaceDetected"); +} diff --git a/bt_nodes/perception/src/perception/pal_is_pointing.cpp b/bt_nodes/perception/src/perception/pal_is_pointing.cpp new file mode 100644 index 0000000..e3b5569 --- /dev/null +++ b/bt_nodes/perception/src/perception/pal_is_pointing.cpp @@ -0,0 +1,117 @@ +// Copyright 2024 Intelligent Robotics Lab - Gentlebots +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "perception/pal_is_pointing.hpp" + +#include +#include + +#include "behaviortree_cpp_v3/behavior_tree.h" + +namespace perception +{ + +using namespace std::chrono_literals; +using namespace std::placeholders; + + +PalIsPointing::PalIsPointing(const std::string & xml_tag_name, const BT::NodeConfiguration & conf) +: BT::ConditionNode(xml_tag_name, conf) +{ + config().blackboard->get("node", node_); + ids_list_sub_ = node_->create_subscription( + "/humans/bodies/tracked", 10, + [this](const hri_msgs::msg::IdsList::SharedPtr msg) { + RCLCPP_INFO_ONCE(node_->get_logger(), "IDs list received"); + last_ids_list_msg_ = msg; + }); +} +PalIsPointing::~PalIsPointing() +{ + RCLCPP_INFO(node_->get_logger(), "PalIsPointing destructor called"); +} + + +BT::NodeStatus PalIsPointing::tick() +{ + rclcpp::spin_some(node_->get_node_base_interface()); + if (status() == BT::NodeStatus::IDLE) { + RCLCPP_INFO(node_->get_logger(), "PalIsPointing ticked"); + config().blackboard->get("tf_buffer", tf_buffer_); + config().blackboard->get("tf_static_broadcaster", tf_static_broadcaster_); + } + + if (!last_ids_list_msg_ || last_ids_list_msg_->ids.empty()) { + RCLCPP_ERROR(node_->get_logger(), "No bodies detected so far"); + return BT::NodeStatus::FAILURE; + } + + std::string first_id = last_ids_list_msg_->ids[0]; + + geometry_msgs::msg::TransformStamped r_hip_to_wrist_msg; + geometry_msgs::msg::TransformStamped l_hip_to_wrist_msg; + geometry_msgs::msg::TransformStamped torso_to_r_wrist_msg; + geometry_msgs::msg::TransformStamped torso_to_l_wrist_msg; + geometry_msgs::msg::TransformStamped map_to_person_msg; + + try { + r_hip_to_wrist_msg = tf_buffer_->lookupTransform("waist_"+first_id, "r_wrist_"+first_id, tf2::TimePointZero); + l_hip_to_wrist_msg = tf_buffer_->lookupTransform("waist_"+first_id, "l_wrist_"+first_id, tf2::TimePointZero); + torso_to_r_wrist_msg = tf_buffer_->lookupTransform("torso_"+first_id, "r_wrist_"+first_id, tf2::TimePointZero); + torso_to_l_wrist_msg = tf_buffer_->lookupTransform("torso_"+first_id, "l_wrist_"+first_id, tf2::TimePointZero); + map_to_person_msg = tf_buffer_->lookupTransform("map", "body_"+first_id, tf2::TimePointZero); + + } catch (const tf2::TransformException & ex) { + RCLCPP_INFO( + node_->get_logger(), "[PalIsPointing] Could not transform"); + return BT::NodeStatus::FAILURE; + } + + auto distance_hip_wrist_r = sqrt( + pow(r_hip_to_wrist_msg.transform.translation.x, 2) + + pow(r_hip_to_wrist_msg.transform.translation.y, 2) + + pow(r_hip_to_wrist_msg.transform.translation.z, 2)); + auto distance_hip_wrist_l = sqrt( + pow(l_hip_to_wrist_msg.transform.translation.x, 2) + + pow(l_hip_to_wrist_msg.transform.translation.y, 2) + + pow(l_hip_to_wrist_msg.transform.translation.z, 2)); + + if (torso_to_r_wrist_msg.transform.translation.z > 0.0 || torso_to_l_wrist_msg.transform.translation.z > 0.0) { + RCLCPP_INFO(node_->get_logger(), "Person is pointing up, invalid direction"); + return BT::NodeStatus::FAILURE; + } + geometry_msgs::msg::TransformStamped bag_tf; + bag_tf = map_to_person_msg; + bag_tf.header.frame_id = "map"; + if (distance_hip_wrist_r > distance_hip_wrist_l) { + bag_tf.transform.translation.x += 0.4; + bag_tf.transform.translation.z = 0.0; + tf_static_broadcaster_->sendTransform(bag_tf); + bag_tf.child_frame_id = "left_bag"; + setOutput("output_frame", "left_bag"); + } else { + bag_tf.transform.translation.x -= 0.4; + bag_tf.transform.translation.z = 0.0; + bag_tf.child_frame_id = "left_bag"; + setOutput("output_frame", "right_bag"); + tf_static_broadcaster_->sendTransform(bag_tf); + } + return BT::NodeStatus::SUCCESS; +} + +} // namespace perception + +BT_REGISTER_NODES(factory) { + factory.registerNodeType("PalIsPointing"); +} diff --git a/bt_nodes/robocup_hri/CMakeLists.txt b/bt_nodes/robocup_hri/CMakeLists.txt new file mode 100644 index 0000000..9598eba --- /dev/null +++ b/bt_nodes/robocup_hri/CMakeLists.txt @@ -0,0 +1,110 @@ +cmake_minimum_required(VERSION 3.8) +project(robocup_hri) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(rclcpp_cascade_lifecycle REQUIRED) +find_package(rclcpp_action REQUIRED) +find_package(behaviortree_cpp_v3 REQUIRED) +find_package(audio_common_msgs REQUIRED) +find_package(whisper_msgs REQUIRED) +# find_package(llama_msgs REQUIRED) (juandpenan) todo: uncomment this when pal team finishes testing +find_package(moveit_msgs REQUIRED) +find_package(shape_msgs REQUIRED) +find_package(std_msgs REQUIRED) +find_package(std_srvs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(gpsr_msgs REQUIRED) +find_package(tts_msgs REQUIRED) +set(CMAKE_CXX_STANDARD 17) + +set(dependencies + rclcpp + rclcpp_cascade_lifecycle + rclcpp_action + behaviortree_cpp_v3 + audio_common_msgs + whisper_msgs + # llama_msgs (juandpenan) todo: uncomment this when pal team finishes testing + moveit_msgs + shape_msgs + std_msgs + sensor_msgs + # gpsr_msgs (juandpenan) todo: uncomment this when pal team finishes testing + std_srvs + tts_msgs +) + +include_directories(include) + +# add_library(speak_bt_node SHARED src/robocup_hri/dialog/Speak.cpp) +# list(APPEND plugin_libs speak_bt_node) + +add_library(dialogConfirmation_bt_node SHARED src/robocup_hri/dialog/DialogConfirmation.cpp) +list(APPEND plugin_libs dialogConfirmation_bt_node) + +# add_library(query_bt_node SHARED src/robocup_hri/dialog/Query.cpp) +# list(APPEND plugin_libs query_bt_node) + +add_library(listen_bt_node SHARED src/robocup_hri/dialog/Listen.cpp) +list(APPEND plugin_libs listen_bt_node) + +# add_library(generate_text_from_objects_bt_node SHARED src/robocup_hri/GenerateTextFromObjects.cpp) +# list(APPEND plugin_libs generate_text_from_objects_bt_node) + +# add_library(store_detection_bt_node SHARED src/robocup_hri/dialog/store_detection.cpp) +# list(APPEND plugin_libs store_detection_bt_node) + +# add_library(choose_from_classes_bt_node SHARED src/robocup_hri/dialog/choose_from_classes.cpp) +# list(APPEND plugin_libs choose_from_classes_bt_node) + +# add_library(check_policy_bt_node SHARED src/robocup_hri/check_policy.cpp) +# list(APPEND plugin_libs check_policy_bt_node) + +# add_library(command_planning_bt_node SHARED src/robocup_hri/CommandPlanning.cpp) +# list(APPEND plugin_libs command_planning_bt_node) + +# add_library(start_music_bt_node SHARED src/robocup_hri/start_music.cpp) +# list(APPEND plugin_libs start_music_bt_node) + +# add_library(stop_music_bt_node SHARED src/robocup_hri/stop_music.cpp) +# list(APPEND plugin_libs stop_music_bt_node) + +# (juandpenan) todo: uncomment this when pal team finishes testing + +add_library(pal_speak_bt_node SHARED src/robocup_hri/dialog/PalSpeak.cpp) +list(APPEND plugin_libs pal_speak_bt_node) + +foreach(bt_plugin ${plugin_libs}) +ament_target_dependencies(${bt_plugin} ${dependencies}) +target_compile_definitions(${bt_plugin} PRIVATE BT_PLUGIN_EXPORT) +endforeach() + +install(TARGETS +${plugin_libs} +EXPORT ${PROJECT_NAME} +ARCHIVE DESTINATION lib +LIBRARY DESTINATION lib +RUNTIME DESTINATION lib/${PROJECT_NAME} +) + +install(DIRECTORY include/ +DESTINATION include/ +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + set(ament_cmake_copyright_FOUND TRUE) + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_export_dependencies(${dependencies}) +ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET) + +ament_package() diff --git a/bt_nodes/hri/include/hri/CommandPlanning.hpp b/bt_nodes/robocup_hri/include/robocup_hri/CommandPlanning.hpp similarity index 85% rename from bt_nodes/hri/include/hri/CommandPlanning.hpp rename to bt_nodes/robocup_hri/include/robocup_hri/CommandPlanning.hpp index f239595..0f25cc4 100644 --- a/bt_nodes/hri/include/hri/CommandPlanning.hpp +++ b/bt_nodes/robocup_hri/include/robocup_hri/CommandPlanning.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions andGO2OBJECT // limitations under the License. -#ifndef HRI__COMMAND_PLANNING_HPP_ -#define HRI__COMMAND_PLANNING_HPP_ +#ifndef robocup_hri__COMMAND_PLANNING_HPP_ +#define robocup_hri__COMMAND_PLANNING_HPP_ #include #include @@ -23,7 +23,7 @@ #include "behaviortree_cpp_v3/behavior_tree.h" #include "behaviortree_cpp_v3/bt_factory.h" #include "gpsr_msgs/srv/generate_plan.hpp" -#include "hri/bt_service_node.hpp" +#include "robocup_hri/bt_service_node.hpp" #include "rclcpp/rclcpp.hpp" #include "rclcpp_action/rclcpp_action.hpp" @@ -31,11 +31,11 @@ #include "std_msgs/msg/int8.hpp" -namespace hri +namespace robocup_hri { class CommandPlanning - : public hri::BtServiceNode { public: @@ -61,6 +61,6 @@ class CommandPlanning rclcpp::Publisher::SharedPtr publisher_start_; }; -} // namespace hri +} // namespace robocup_hri -#endif // HRI__COMMAND_PLANNING_HPP_ +#endif // robocup_hri__COMMAND_PLANNING_HPP_ diff --git a/bt_nodes/hri/include/hri/GenerateTextFromObjects.hpp b/bt_nodes/robocup_hri/include/robocup_hri/GenerateTextFromObjects.hpp similarity index 88% rename from bt_nodes/hri/include/hri/GenerateTextFromObjects.hpp rename to bt_nodes/robocup_hri/include/robocup_hri/GenerateTextFromObjects.hpp index fd58551..11df413 100644 --- a/bt_nodes/hri/include/hri/GenerateTextFromObjects.hpp +++ b/bt_nodes/robocup_hri/include/robocup_hri/GenerateTextFromObjects.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions andGO2OBJECT // limitations under the License. -#ifndef HRI__GENERATE_TEXT_FROM_OBJECTS_HPP_ -#define HRI__GENERATE_TEXT_FROM_OBJECTS_HPP_ +#ifndef robocup_hri__GENERATE_TEXT_FROM_OBJECTS_HPP_ +#define robocup_hri__GENERATE_TEXT_FROM_OBJECTS_HPP_ #include #include @@ -26,7 +26,7 @@ #include "shape_msgs/msg/solid_primitive.hpp" #include "rclcpp_cascade_lifecycle/rclcpp_cascade_lifecycle.hpp" -namespace hri +namespace robocup_hri { class GenerateTextFromObjects : public BT::ActionNodeBase @@ -54,6 +54,6 @@ class GenerateTextFromObjects : public BT::ActionNodeBase unsigned int selected_object_ = 0; }; -} // namespace hri +} // namespace robocup_hri -#endif // HRI__GENERATE_TEXT_FROM_OBJECTS_HPP_ +#endif // robocup_hri__GENERATE_TEXT_FROM_OBJECTS_HPP_ diff --git a/bt_nodes/hri/include/hri/bt_service_node.hpp b/bt_nodes/robocup_hri/include/robocup_hri/bt_service_node.hpp similarity index 99% rename from bt_nodes/hri/include/hri/bt_service_node.hpp rename to bt_nodes/robocup_hri/include/robocup_hri/bt_service_node.hpp index da37ff8..8d3d4d8 100644 --- a/bt_nodes/hri/include/hri/bt_service_node.hpp +++ b/bt_nodes/robocup_hri/include/robocup_hri/bt_service_node.hpp @@ -23,7 +23,7 @@ #include "behaviortree_cpp_v3/action_node.h" #include "rclcpp/rclcpp.hpp" -namespace hri +namespace robocup_hri { using namespace std::chrono_literals; // NOLINT @@ -194,6 +194,6 @@ class BtServiceNode : public BT::ActionNodeBase std::chrono::milliseconds server_timeout_; }; -} // namespace hri +} // namespace robocup_hri #endif // BTSERVICENODE_HPP_ diff --git a/bt_nodes/hri/include/hri/check_policy.hpp b/bt_nodes/robocup_hri/include/robocup_hri/check_policy.hpp similarity index 91% rename from bt_nodes/hri/include/hri/check_policy.hpp rename to bt_nodes/robocup_hri/include/robocup_hri/check_policy.hpp index 67cea22..ef00f64 100644 --- a/bt_nodes/hri/include/hri/check_policy.hpp +++ b/bt_nodes/robocup_hri/include/robocup_hri/check_policy.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions andGO2OBJECT // limitations under the License. -#ifndef HRI__CHECK_POLICY_HPP_ -#define HRI__CHECK_POLICY_HPP_ +#ifndef robocup_hri__CHECK_POLICY_HPP_ +#define robocup_hri__CHECK_POLICY_HPP_ #include #include #include "behaviortree_cpp_v3/behavior_tree.h" #include "behaviortree_cpp_v3/bt_factory.h" -#include "hri/dialog/BTActionNode.hpp" +#include "robocup_hri/dialog/BTActionNode.hpp" #include "llama_msgs/action/generate_response.hpp" #include "sensor_msgs/msg/image.hpp" #include "rclcpp/rclcpp.hpp" @@ -63,4 +63,4 @@ class CheckPolicy } // namespace dialog -#endif // HRI__CheckPolicy_HPP_ +#endif // robocup_hri__CheckPolicy_HPP_ diff --git a/bt_nodes/hri/include/hri/dialog/BTActionNode.hpp b/bt_nodes/robocup_hri/include/robocup_hri/dialog/BTActionNode.hpp similarity index 98% rename from bt_nodes/hri/include/hri/dialog/BTActionNode.hpp rename to bt_nodes/robocup_hri/include/robocup_hri/dialog/BTActionNode.hpp index fcf65b9..32c0043 100644 --- a/bt_nodes/hri/include/hri/dialog/BTActionNode.hpp +++ b/bt_nodes/robocup_hri/include/robocup_hri/dialog/BTActionNode.hpp @@ -21,13 +21,15 @@ #include "behaviortree_cpp_v3/action_node.h" #include "rclcpp/rclcpp.hpp" #include "rclcpp_action/rclcpp_action.hpp" +#include "rclcpp_cascade_lifecycle/rclcpp_cascade_lifecycle.hpp" + namespace dialog { using namespace std::chrono_literals; // NOLINT -template +template class BtActionNode : public BT::ActionNodeBase { public: diff --git a/bt_nodes/hri/include/hri/dialog/DialogConfirmation.hpp b/bt_nodes/robocup_hri/include/robocup_hri/dialog/DialogConfirmation.hpp similarity index 94% rename from bt_nodes/hri/include/hri/dialog/DialogConfirmation.hpp rename to bt_nodes/robocup_hri/include/robocup_hri/dialog/DialogConfirmation.hpp index d3ffd9c..99906a5 100644 --- a/bt_nodes/hri/include/hri/dialog/DialogConfirmation.hpp +++ b/bt_nodes/robocup_hri/include/robocup_hri/dialog/DialogConfirmation.hpp @@ -20,7 +20,7 @@ #include "behaviortree_cpp_v3/behavior_tree.h" #include "behaviortree_cpp_v3/bt_factory.h" -#include "hri/dialog/BTActionNode.hpp" +#include "robocup_hri/dialog/BTActionNode.hpp" #include "rclcpp/rclcpp.hpp" #include "rclcpp_cascade_lifecycle/rclcpp_cascade_lifecycle.hpp" #include "std_msgs/msg/int8.hpp" @@ -49,4 +49,4 @@ class DialogConfirmation } // namespace dialog -#endif // HRI__DIALOGCONFIRMATION_HPP_ +#endif // robocup_hri__DIALOGCONFIRMATION_HPP_ diff --git a/bt_nodes/hri/include/hri/dialog/Listen.hpp b/bt_nodes/robocup_hri/include/robocup_hri/dialog/Listen.hpp similarity index 91% rename from bt_nodes/hri/include/hri/dialog/Listen.hpp rename to bt_nodes/robocup_hri/include/robocup_hri/dialog/Listen.hpp index 8a635b5..50f944d 100644 --- a/bt_nodes/hri/include/hri/dialog/Listen.hpp +++ b/bt_nodes/robocup_hri/include/robocup_hri/dialog/Listen.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions andGO2OBJECT // limitations under the License. -#ifndef HRI__LISTEN_HPP_ -#define HRI__LISTEN_HPP_ +#ifndef robocup_hri__LISTEN_HPP_ +#define robocup_hri__LISTEN_HPP_ #include #include @@ -21,7 +21,7 @@ #include "behaviortree_cpp_v3/behavior_tree.h" #include "behaviortree_cpp_v3/bt_factory.h" -#include "hri/dialog/BTActionNode.hpp" +#include "robocup_hri/dialog/BTActionNode.hpp" #include "rclcpp/rclcpp.hpp" #include "rclcpp_cascade_lifecycle/rclcpp_cascade_lifecycle.hpp" #include "std_msgs/msg/int8.hpp" @@ -52,4 +52,4 @@ class Listen : public dialog::BtActionNode< } // namespace dialog -#endif // HRI__LISTEN_HPP_ +#endif // robocup_hri__LISTEN_HPP_ diff --git a/bt_nodes/robocup_hri/include/robocup_hri/dialog/PalSpeak.hpp b/bt_nodes/robocup_hri/include/robocup_hri/dialog/PalSpeak.hpp new file mode 100644 index 0000000..ce1296f --- /dev/null +++ b/bt_nodes/robocup_hri/include/robocup_hri/dialog/PalSpeak.hpp @@ -0,0 +1,60 @@ +// Copyright 2024 Intelligent Robotics Lab - Gentlebots +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions andGO2OBJECT +// limitations under the License. + +#ifndef robocup_hri__LISTEN_HPP_ +#define robocup_hri__LISTEN_HPP_ + +#include +#include +#include + +#include "audio_common_msgs/action/tts.hpp" +#include "behaviortree_cpp_v3/behavior_tree.h" +#include "behaviortree_cpp_v3/bt_factory.h" +#include "robocup_hri/dialog/BTActionNode.hpp" +#include "rclcpp/rclcpp.hpp" +#include "rclcpp_cascade_lifecycle/rclcpp_cascade_lifecycle.hpp" +#include "std_msgs/msg/int8.hpp" +#include "std_msgs/msg/string.hpp" +#include "tts_msgs/action/tts.hpp" + +namespace dialog +{ + +class PalSpeak : public dialog::BtActionNode< + tts_msgs::action::TTS, rclcpp_cascade_lifecycle::CascadeLifecycleNode> +{ +public: + explicit PalSpeak( + const std::string & xml_tag_name, const std::string & action_name, + const BT::NodeConfiguration & conf); + + void on_tick() override; + BT::NodeStatus on_success() override; + + static BT::PortsList providedPorts() + { + return BT::PortsList( + {BT::InputPort("say_text"), BT::InputPort("param")}); + } + +private: + rclcpp_lifecycle::LifecyclePublisher::SharedPtr publisher_; + rclcpp_lifecycle::LifecyclePublisher::SharedPtr publisher_start_; + bool is_goal_sent_ = false; +}; + +} // namespace dialog + +#endif // robocup_hri__LISTEN_HPP_ diff --git a/bt_nodes/hri/include/hri/dialog/Query.hpp b/bt_nodes/robocup_hri/include/robocup_hri/dialog/Query.hpp similarity index 91% rename from bt_nodes/hri/include/hri/dialog/Query.hpp rename to bt_nodes/robocup_hri/include/robocup_hri/dialog/Query.hpp index d765845..3723a6a 100644 --- a/bt_nodes/hri/include/hri/dialog/Query.hpp +++ b/bt_nodes/robocup_hri/include/robocup_hri/dialog/Query.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions andGO2OBJECT // limitations under the License. -#ifndef HRI__QUERY_HPP_ -#define HRI__QUERY_HPP_ +#ifndef robocup_hri__QUERY_HPP_ +#define robocup_hri__QUERY_HPP_ #include #include #include "behaviortree_cpp_v3/behavior_tree.h" #include "behaviortree_cpp_v3/bt_factory.h" -#include "hri/dialog/BTActionNode.hpp" +#include "robocup_hri/dialog/BTActionNode.hpp" #include "llama_msgs/action/generate_response.hpp" #include "rclcpp/rclcpp.hpp" #include "rclcpp_cascade_lifecycle/rclcpp_cascade_lifecycle.hpp" @@ -55,4 +55,4 @@ class Query } // namespace dialog -#endif // HRI__QUERY_HPP_ +#endif // robocup_hri__QUERY_HPP_ diff --git a/bt_nodes/hri/include/hri/dialog/Speak.hpp b/bt_nodes/robocup_hri/include/robocup_hri/dialog/Speak.hpp similarity index 96% rename from bt_nodes/hri/include/hri/dialog/Speak.hpp rename to bt_nodes/robocup_hri/include/robocup_hri/dialog/Speak.hpp index 085eb7d..a1c0862 100644 --- a/bt_nodes/hri/include/hri/dialog/Speak.hpp +++ b/bt_nodes/robocup_hri/include/robocup_hri/dialog/Speak.hpp @@ -22,7 +22,7 @@ #include "audio_common_msgs/action/tts.hpp" #include "behaviortree_cpp_v3/behavior_tree.h" #include "behaviortree_cpp_v3/bt_factory.h" -#include "hri/dialog/BTActionNode.hpp" +#include "robocup_hri/dialog/BTActionNode.hpp" #include "rclcpp/rclcpp.hpp" #include "rclcpp_cascade_lifecycle/rclcpp_cascade_lifecycle.hpp" #include "std_msgs/msg/int8.hpp" @@ -61,4 +61,4 @@ class Speak : public BT::ActionNodeBase } // namespace dialog -#endif // HRI__SPEAK_HPP_ +#endif // robocup_hri__SPEAK_HPP_ diff --git a/bt_nodes/hri/include/hri/dialog/choose_from_classes.hpp b/bt_nodes/robocup_hri/include/robocup_hri/dialog/choose_from_classes.hpp similarity index 91% rename from bt_nodes/hri/include/hri/dialog/choose_from_classes.hpp rename to bt_nodes/robocup_hri/include/robocup_hri/dialog/choose_from_classes.hpp index 245764b..39e5539 100644 --- a/bt_nodes/hri/include/hri/dialog/choose_from_classes.hpp +++ b/bt_nodes/robocup_hri/include/robocup_hri/dialog/choose_from_classes.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions andGO2OBJECT // limitations under the License. -#ifndef HRI__CHOOSE_FROM_CLASSES_HPP_ -#define HRI__CHOOSE_FROM_CLASSES_HPP_ +#ifndef robocup_hri__CHOOSE_FROM_CLASSES_HPP_ +#define robocup_hri__CHOOSE_FROM_CLASSES_HPP_ #include #include #include "behaviortree_cpp_v3/behavior_tree.h" #include "behaviortree_cpp_v3/bt_factory.h" -#include "hri/dialog/BTActionNode.hpp" +#include "robocup_hri/dialog/BTActionNode.hpp" #include "llama_msgs/action/generate_response.hpp" #include "rclcpp/rclcpp.hpp" #include "rclcpp_cascade_lifecycle/rclcpp_cascade_lifecycle.hpp" @@ -61,4 +61,4 @@ class ChooseFromClasses } // namespace dialog -#endif // HRI__CHOOSE_FROM_CLASSES_HPP_ +#endif // robocup_hri__CHOOSE_FROM_CLASSES_HPP_ diff --git a/bt_nodes/hri/include/hri/dialog/store_detection.hpp b/bt_nodes/robocup_hri/include/robocup_hri/dialog/store_detection.hpp similarity index 91% rename from bt_nodes/hri/include/hri/dialog/store_detection.hpp rename to bt_nodes/robocup_hri/include/robocup_hri/dialog/store_detection.hpp index 31a4bc7..080c3d6 100644 --- a/bt_nodes/hri/include/hri/dialog/store_detection.hpp +++ b/bt_nodes/robocup_hri/include/robocup_hri/dialog/store_detection.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions andGO2OBJECT // limitations under the License. -#ifndef HRI__GENERATE_TEXT_FROM_OBJECTS_HPP_ -#define HRI__GENERATE_TEXT_FROM_OBJECTS_HPP_ +#ifndef robocup_hri__GENERATE_TEXT_FROM_OBJECTS_HPP_ +#define robocup_hri__GENERATE_TEXT_FROM_OBJECTS_HPP_ #include #include @@ -25,7 +25,7 @@ #include "rclcpp_cascade_lifecycle/rclcpp_cascade_lifecycle.hpp" #include "shape_msgs/msg/solid_primitive.hpp" -namespace hri +namespace robocup_hri { class StoreDetection : public BT::ActionNodeBase @@ -63,6 +63,6 @@ class StoreDetection : public BT::ActionNodeBase std::int64_t current_color_id_ = 0; }; -} // namespace hri +} // namespace robocup_hri -#endif // HRI__GENERATE_TEXT_FROM_OBJECTS_HPP_ +#endif // robocup_hri__GENERATE_TEXT_FROM_OBJECTS_HPP_ diff --git a/bt_nodes/hri/include/hri/start_music.hpp b/bt_nodes/robocup_hri/include/robocup_hri/start_music.hpp similarity index 83% rename from bt_nodes/hri/include/hri/start_music.hpp rename to bt_nodes/robocup_hri/include/robocup_hri/start_music.hpp index 76b7aca..3e07e44 100644 --- a/bt_nodes/hri/include/hri/start_music.hpp +++ b/bt_nodes/robocup_hri/include/robocup_hri/start_music.hpp @@ -12,24 +12,24 @@ // See the License for the specific language governing permissions andGO2OBJECT // limitations under the License. -#ifndef HRI__START_MUSIC_HPP_ -#define HRI__START_MUSIC_HPP_ +#ifndef robocup_hri__START_MUSIC_HPP_ +#define robocup_hri__START_MUSIC_HPP_ #include #include "behaviortree_cpp_v3/behavior_tree.h" #include "behaviortree_cpp_v3/bt_factory.h" -#include "hri/bt_service_node.hpp" +#include "robocup_hri/bt_service_node.hpp" #include "rclcpp/rclcpp.hpp" #include "rclcpp_cascade_lifecycle/rclcpp_cascade_lifecycle.hpp" #include "audio_common_msgs/srv/music_play.hpp" -namespace hri +namespace robocup_hri { class StartMusic - : public hri::BtServiceNode { public: @@ -54,6 +54,6 @@ class StartMusic bool loop_; }; -} // namespace hri +} // namespace robocup_hri -#endif // HRI__START_MUSIC_HPP_ +#endif // robocup_hri__START_MUSIC_HPP_ diff --git a/bt_nodes/hri/include/hri/stop_music.hpp b/bt_nodes/robocup_hri/include/robocup_hri/stop_music.hpp similarity index 82% rename from bt_nodes/hri/include/hri/stop_music.hpp rename to bt_nodes/robocup_hri/include/robocup_hri/stop_music.hpp index 5845ea6..18d2027 100644 --- a/bt_nodes/hri/include/hri/stop_music.hpp +++ b/bt_nodes/robocup_hri/include/robocup_hri/stop_music.hpp @@ -12,24 +12,24 @@ // See the License for the specific language governing permissions andGO2OBJECT // limitations under the License. -#ifndef HRI__STOP_MUSIC_HPP_ -#define HRI__STOP_MUSIC_HPP_ +#ifndef robocup_hri__STOP_MUSIC_HPP_ +#define robocup_hri__STOP_MUSIC_HPP_ #include #include "behaviortree_cpp_v3/behavior_tree.h" #include "behaviortree_cpp_v3/bt_factory.h" -#include "hri/bt_service_node.hpp" +#include "robocup_hri/bt_service_node.hpp" #include "rclcpp/rclcpp.hpp" #include "rclcpp_cascade_lifecycle/rclcpp_cascade_lifecycle.hpp" #include "std_srvs/srv/trigger.hpp" -namespace hri +namespace robocup_hri { class StopMusic - : public hri::BtServiceNode { public: @@ -48,6 +48,6 @@ class StopMusic } }; -} // namespace hri +} // namespace robocup_hri -#endif // HRI__STOP_MUSIC_HPP_ +#endif // robocup_hri__STOP_MUSIC_HPP_ diff --git a/bt_nodes/hri/package.xml b/bt_nodes/robocup_hri/package.xml similarity index 84% rename from bt_nodes/hri/package.xml rename to bt_nodes/robocup_hri/package.xml index 0a0a2c0..189c68e 100644 --- a/bt_nodes/hri/package.xml +++ b/bt_nodes/robocup_hri/package.xml @@ -1,7 +1,7 @@ - hri + robocup_hri 0.0.0 TODO: Package description Samuele @@ -14,11 +14,11 @@ behaviortree_cpp_v3 audio_common_msgs whisper_msgs - llama_msgs + moveit_msgs shape_msgs std_msgs - gpsr_msgs + ament_lint_auto ament_lint_common diff --git a/bt_nodes/hri/src/hri/CommandPlanning.cpp b/bt_nodes/robocup_hri/src/robocup_hri/CommandPlanning.cpp similarity index 89% rename from bt_nodes/hri/src/hri/CommandPlanning.cpp rename to bt_nodes/robocup_hri/src/robocup_hri/CommandPlanning.cpp index ab7e767..1bd0312 100644 --- a/bt_nodes/hri/src/hri/CommandPlanning.cpp +++ b/bt_nodes/robocup_hri/src/robocup_hri/CommandPlanning.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "hri/CommandPlanning.hpp" +#include "robocup_hri/CommandPlanning.hpp" #include #include @@ -23,7 +23,7 @@ #include "behaviortree_cpp_v3/behavior_tree.h" -namespace hri +namespace robocup_hri { using namespace std::chrono_literals; @@ -60,7 +60,7 @@ std::string joinActions(std::vector actions) CommandPlanning::CommandPlanning( const std::string & xml_tag_name, const std::string & action_name, const BT::NodeConfiguration & conf) -: hri::BtServiceNode( xml_tag_name, action_name, conf) { @@ -98,16 +98,16 @@ void CommandPlanning::on_result() setStatus(BT::NodeStatus::SUCCESS); } -} // namespace hri +} // namespace robocup_hri #include "behaviortree_cpp_v3/bt_factory.h" BT_REGISTER_NODES(factory) { BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) { - return std::make_unique( + return std::make_unique( name, "gpsr_planning", config); }; - factory.registerBuilder("CommandPlanning", builder); + factory.registerBuilder("CommandPlanning", builder); } diff --git a/bt_nodes/hri/src/hri/GenerateTextFromObjects.cpp b/bt_nodes/robocup_hri/src/robocup_hri/GenerateTextFromObjects.cpp similarity index 91% rename from bt_nodes/hri/src/hri/GenerateTextFromObjects.cpp rename to bt_nodes/robocup_hri/src/robocup_hri/GenerateTextFromObjects.cpp index b5d6c5d..5a6dfeb 100644 --- a/bt_nodes/hri/src/hri/GenerateTextFromObjects.cpp +++ b/bt_nodes/robocup_hri/src/robocup_hri/GenerateTextFromObjects.cpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "hri/GenerateTextFromObjects.hpp" +#include "robocup_hri/GenerateTextFromObjects.hpp" using std::placeholders::_1; using namespace std::chrono_literals; -namespace hri +namespace robocup_hri { GenerateTextFromObjects::GenerateTextFromObjects( @@ -63,9 +63,9 @@ BT::NodeStatus GenerateTextFromObjects::tick() return BT::NodeStatus::SUCCESS; } -} // namespace hri +} // namespace robocup_hri BT_REGISTER_NODES(factory) { - factory.registerNodeType("GenerateTextFromObjects"); + factory.registerNodeType("GenerateTextFromObjects"); } diff --git a/bt_nodes/hri/src/hri/check_policy.cpp b/bt_nodes/robocup_hri/src/robocup_hri/check_policy.cpp similarity index 99% rename from bt_nodes/hri/src/hri/check_policy.cpp rename to bt_nodes/robocup_hri/src/robocup_hri/check_policy.cpp index 8a74e27..146c704 100644 --- a/bt_nodes/hri/src/hri/check_policy.cpp +++ b/bt_nodes/robocup_hri/src/robocup_hri/check_policy.cpp @@ -19,7 +19,7 @@ #include #include "behaviortree_cpp_v3/behavior_tree.h" -#include "hri/check_policy.hpp" +#include "robocup_hri/check_policy.hpp" #include "llama_msgs/action/generate_response.hpp" #include "std_msgs/msg/int8.hpp" diff --git a/bt_nodes/hri/src/hri/dialog/DialogConfirmation.cpp b/bt_nodes/robocup_hri/src/robocup_hri/dialog/DialogConfirmation.cpp similarity index 96% rename from bt_nodes/hri/src/hri/dialog/DialogConfirmation.cpp rename to bt_nodes/robocup_hri/src/robocup_hri/dialog/DialogConfirmation.cpp index e15d54c..50b340d 100644 --- a/bt_nodes/hri/src/hri/dialog/DialogConfirmation.cpp +++ b/bt_nodes/robocup_hri/src/robocup_hri/dialog/DialogConfirmation.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "hri/dialog/DialogConfirmation.hpp" +#include "robocup_hri/dialog/DialogConfirmation.hpp" #include #include #include "behaviortree_cpp_v3/behavior_tree.h" -#include "hri/dialog/DialogConfirmation.hpp" +#include "robocup_hri/dialog/DialogConfirmation.hpp" #include "std_msgs/msg/int8.hpp" #include "whisper_msgs/action/stt.hpp" diff --git a/bt_nodes/hri/src/hri/dialog/Listen.cpp b/bt_nodes/robocup_hri/src/robocup_hri/dialog/Listen.cpp similarity index 98% rename from bt_nodes/hri/src/hri/dialog/Listen.cpp rename to bt_nodes/robocup_hri/src/robocup_hri/dialog/Listen.cpp index d99b4af..f70cb9c 100644 --- a/bt_nodes/hri/src/hri/dialog/Listen.cpp +++ b/bt_nodes/robocup_hri/src/robocup_hri/dialog/Listen.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "hri/dialog/Listen.hpp" +#include "robocup_hri/dialog/Listen.hpp" #include #include diff --git a/bt_nodes/robocup_hri/src/robocup_hri/dialog/PalSpeak.cpp b/bt_nodes/robocup_hri/src/robocup_hri/dialog/PalSpeak.cpp new file mode 100644 index 0000000..2f7b900 --- /dev/null +++ b/bt_nodes/robocup_hri/src/robocup_hri/dialog/PalSpeak.cpp @@ -0,0 +1,80 @@ +// Copyright 2024 Intelligent Robotics Lab - Gentlebots +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "robocup_hri/dialog/PalSpeak.hpp" + +#include +#include +#include + +#include "audio_common_msgs/action/tts.hpp" +#include "behaviortree_cpp_v3/behavior_tree.h" +#include "std_msgs/msg/int8.hpp" +#include "std_msgs/msg/string.hpp" + +namespace dialog +{ + +using namespace std::chrono_literals; +using namespace std::placeholders; + +PalSpeak::PalSpeak( + const std::string & xml_tag_name, const std::string & action_name, + const BT::NodeConfiguration & conf) +: dialog::BtActionNode( + xml_tag_name, action_name, conf) +{ + this->publisher_ = node_->create_publisher("say_text", 10); + this->publisher_start_ = node_->create_publisher("dialog_action", 10); + + this->publisher_->on_activate(); + this->publisher_start_->on_activate(); +} + +void PalSpeak::on_tick() +{ + RCLCPP_DEBUG(node_->get_logger(), "PalSpeak ticked"); + std::string text_; + getInput("say_text", text_); + + std::string param_; + getInput("param", param_); + goal_ = tts_msgs::action::TTS::Goal(); + if (param_.length() > 0) { + goal_.input = text_ + " " + param_; + } else { + goal_.input = text_; + } + auto msg = std_msgs::msg::String(); + + + this->publisher_->publish(msg); + +} + +BT::NodeStatus PalSpeak::on_success() +{ + return BT::NodeStatus::SUCCESS; +} + +} // namespace dialog +#include "behaviortree_cpp_v3/bt_factory.h" +BT_REGISTER_NODES(factory) +{ + BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) { + return std::make_unique(name, "/say", config); + }; + + factory.registerBuilder("PalSpeak", builder); +} diff --git a/bt_nodes/hri/src/hri/dialog/Query.cpp b/bt_nodes/robocup_hri/src/robocup_hri/dialog/Query.cpp similarity index 97% rename from bt_nodes/hri/src/hri/dialog/Query.cpp rename to bt_nodes/robocup_hri/src/robocup_hri/dialog/Query.cpp index d74ceb0..2621599 100644 --- a/bt_nodes/hri/src/hri/dialog/Query.cpp +++ b/bt_nodes/robocup_hri/src/robocup_hri/dialog/Query.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "hri/dialog/Query.hpp" +#include "robocup_hri/dialog/Query.hpp" #include #include @@ -20,7 +20,7 @@ #include #include "behaviortree_cpp_v3/behavior_tree.h" -#include "hri/dialog/Query.hpp" +#include "robocup_hri/dialog/Query.hpp" #include "llama_msgs/action/generate_response.hpp" #include "std_msgs/msg/int8.hpp" diff --git a/bt_nodes/hri/src/hri/dialog/Speak.cpp b/bt_nodes/robocup_hri/src/robocup_hri/dialog/Speak.cpp similarity index 99% rename from bt_nodes/hri/src/hri/dialog/Speak.cpp rename to bt_nodes/robocup_hri/src/robocup_hri/dialog/Speak.cpp index adec439..4af119e 100644 --- a/bt_nodes/hri/src/hri/dialog/Speak.cpp +++ b/bt_nodes/robocup_hri/src/robocup_hri/dialog/Speak.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "hri/dialog/Speak.hpp" +#include "robocup_hri/dialog/Speak.hpp" #include #include diff --git a/bt_nodes/hri/src/hri/dialog/choose_from_classes.cpp b/bt_nodes/robocup_hri/src/robocup_hri/dialog/choose_from_classes.cpp similarity index 98% rename from bt_nodes/hri/src/hri/dialog/choose_from_classes.cpp rename to bt_nodes/robocup_hri/src/robocup_hri/dialog/choose_from_classes.cpp index b3159a0..cd90c78 100644 --- a/bt_nodes/hri/src/hri/dialog/choose_from_classes.cpp +++ b/bt_nodes/robocup_hri/src/robocup_hri/dialog/choose_from_classes.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "hri/dialog/choose_from_classes.hpp" +#include "robocup_hri/dialog/choose_from_classes.hpp" #include #include diff --git a/bt_nodes/hri/src/hri/dialog/store_detection.cpp b/bt_nodes/robocup_hri/src/robocup_hri/dialog/store_detection.cpp similarity index 92% rename from bt_nodes/hri/src/hri/dialog/store_detection.cpp rename to bt_nodes/robocup_hri/src/robocup_hri/dialog/store_detection.cpp index 74ee8c1..dbccfbf 100644 --- a/bt_nodes/hri/src/hri/dialog/store_detection.cpp +++ b/bt_nodes/robocup_hri/src/robocup_hri/dialog/store_detection.cpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "hri/dialog/store_detection.hpp" +#include "robocup_hri/dialog/store_detection.hpp" using std::placeholders::_1; using namespace std::chrono_literals; -namespace hri +namespace robocup_hri { StoreDetection::StoreDetection(const std::string & xml_tag_name, const BT::NodeConfiguration & conf) @@ -63,8 +63,8 @@ BT::NodeStatus StoreDetection::tick() return BT::NodeStatus::SUCCESS; } -} // namespace hri +} // namespace robocup_hri BT_REGISTER_NODES(factory) { - factory.registerNodeType("StoreDetection"); + factory.registerNodeType("StoreDetection"); } diff --git a/bt_nodes/hri/src/hri/start_music.cpp b/bt_nodes/robocup_hri/src/robocup_hri/start_music.cpp similarity index 86% rename from bt_nodes/hri/src/hri/start_music.cpp rename to bt_nodes/robocup_hri/src/robocup_hri/start_music.cpp index 0182ef5..77b105a 100644 --- a/bt_nodes/hri/src/hri/start_music.cpp +++ b/bt_nodes/robocup_hri/src/robocup_hri/start_music.cpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "hri/start_music.hpp" +#include "robocup_hri/start_music.hpp" #include -namespace hri +namespace robocup_hri { using namespace std::chrono_literals; @@ -25,7 +25,7 @@ using namespace std::placeholders; StartMusic::StartMusic( const std::string & xml_tag_name, const std::string & action_name, const BT::NodeConfiguration & conf) -: hri::BtServiceNode( xml_tag_name, action_name, conf) { @@ -61,9 +61,9 @@ void StartMusic::on_result() BT_REGISTER_NODES(factory) { BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) { - return std::make_unique( + return std::make_unique( name, "/music_play", config); }; - factory.registerBuilder("StartMusic", builder); + factory.registerBuilder("StartMusic", builder); } diff --git a/bt_nodes/hri/src/hri/stop_music.cpp b/bt_nodes/robocup_hri/src/robocup_hri/stop_music.cpp similarity index 86% rename from bt_nodes/hri/src/hri/stop_music.cpp rename to bt_nodes/robocup_hri/src/robocup_hri/stop_music.cpp index 1f3950c..d9cedce 100644 --- a/bt_nodes/hri/src/hri/stop_music.cpp +++ b/bt_nodes/robocup_hri/src/robocup_hri/stop_music.cpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "hri/stop_music.hpp" +#include "robocup_hri/stop_music.hpp" #include -namespace hri +namespace robocup_hri { using namespace std::chrono_literals; @@ -25,7 +25,7 @@ using namespace std::placeholders; StopMusic::StopMusic( const std::string & xml_tag_name, const std::string & action_name, const BT::NodeConfiguration & conf) -: hri::BtServiceNode( xml_tag_name, action_name, conf) { @@ -55,9 +55,9 @@ void StopMusic::on_result() BT_REGISTER_NODES(factory) { BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) { - return std::make_unique( + return std::make_unique( name, "/music_stop", config); }; - factory.registerBuilder("StopMusic", builder); + factory.registerBuilder("StopMusic", builder); } diff --git a/carry/LICENSE b/carry/LICENSE new file mode 100644 index 0000000..967b998 --- /dev/null +++ b/carry/LICENSE @@ -0,0 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This template implements +the basic infrastructure to handle user input (using the ROS4HRI standard), +submit it to a LLM chatbot, and handle the result. + +What are the next steps? + + +## Prerequisites + +Before being able to use this supervisor, you need to install `ollama` and the +`ollama` python bindings (they are required for the `ollama_connector` node to work): + +- install `ollama`: https://ollama.com/download +- download a LLM model. For instance: `ollama pull llama3.2:1b` +- start `ollama` as a server: `ollama server` + +> Note: you can configure `ollama` to [start at startup](https://github.com/ollama/ollama/blob/main/docs/linux.md#adding-ollama-as-a-startup-service-recommended). + +- install the `ollama` python bindings: `pip install ollama` + + +## Compile and install the mission controller + +You need a ROS 2 environment to compile the template. + +You can for instance use PAL Robotics public 'tutorials' Docker image: + +``` +> docker pull palrobotics/public-tutorials-alum-devel +> docker run -it --name ros2_sandbox \ + -v :/home/user/exchange/ws \ + palrobotics/public-tutorials-alum-devel bash +``` + +Then, simply run: + +``` +> cd /home/user/exchange/ws +> colcon build +> source install/setup.bash +``` + +You can now start your mission controller with: + +``` +> ros2 launch carry carry.launch.py +``` + +This launch file will also start the Ollama connector node and the +'greet' task node. + +## Testing + +You can test the application from the terminal by publishing some input speech, and monitoring the +`/intents` topic for results. + +In a second terminal, run: + +``` +ros2 topic echo /intents +``` + +> Note: you can open a new terminal in the same Docker image with: +> ``` +> docker exec -it ros2_sandbox bash +> ``` + +Then (from a third terminal) let's pretend that a voice is heard by the robot: + +``` +ros2 topic pub -1 /humans/voices/tracked hri_msgs/msg/IdsList "ids: ['test_speaker']" +``` + +Then: + +``` +ros2 topic pub -1 /humans/voices/test_speaker/speech hri_msgs/msg/LiveSpeech "final: 'hello robot, what can you do for me?'" +``` + +You should now see intents being published, based on what the LLM chatbot has recognised. + +## Customize your supervisor + +By default, the template does not do anything useful. However, it demonstrates +how to use *intents* to trigger behaviours or react to events. + +*Intents* are usually generated by the user. It can happen: +- through automatic perception (eg, someone approaches and seems to interact), +- through verbal interaction (eg, someone tells the robot to go somewhere) +- from other interactions, like a remote touchscreen (eg, someone presses + a button to trigger a behaviour) or mobile app. + +For this example, we are mostly interested in verbal interactions. + +## Install on the robot + +To install you app on the robot, you need to follow the following steps: + +1. deploy your code to the robot using PAL's `deploy` tool. +2. install the webpages (if you are using any) + +### Deploy the application controller to the robot + +**To deploy the code to the robot, you have to run the following commands from +*inside* your PAL OS Developer Docker image**. + +- from within the PAL OS Developer Docker image, go to root of the project +- run `ros2 run pal_deploy deploy --package carry generic-XXc` (replace `generic-XXc` by your actual robot) + +You can now `ssh` onto the robot (`ssh pal@generic-XXc`, password +`pal`), and go to your project: `cd ~/deployed_ws/share/carry` + +## Run your application + +`ssh` onto the robot (`ssh pal@generic-XXc`, password `pal`). + +There are several ways to run the application: + +1. Automatically launch the app and transition to an active state: + +`ros2 launch carry carry.launch.py` + +2. Manually run your application: + +`ros2 run carry run_app` + +Since your application controller is a lifecycle node, you need to manage it +through the lifecycle tools. You can execute the following to transit the +mission controller as follows: + +``ros2 lifecycle set /app_carry configure`` +``ros2 lifecycle set /app_carry activate`` + +To stop it (but not reseting it's internal variables): +``ros2 lifecycle set /app_carry activate`` + +To stop it and clean it: +``ros2 lifecycle set /app_carry deactivate`` +``ros2 lifecycle set /app_carry cleanup`` + + +3. Automatically start your application at startup: + +To make your application run at startup, uncomment the related lines in +`setup.py` and reinstall the package. You can then start, stop or view the logs +of the application as a module. See [Application +management](https://docs.pal-robotics.com/sdk-dev/management/application-management) +for more details. + diff --git a/carry/carry/__init__.py b/carry/carry/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/carry/carry/__pycache__/__init__.cpython-310.pyc b/carry/carry/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000..bcd5679 Binary files /dev/null and b/carry/carry/__pycache__/__init__.cpython-310.pyc differ diff --git a/carry/carry/__pycache__/mission_controller.cpython-310.pyc b/carry/carry/__pycache__/mission_controller.cpython-310.pyc new file mode 100644 index 0000000..c0fe369 Binary files /dev/null and b/carry/carry/__pycache__/mission_controller.cpython-310.pyc differ diff --git a/carry/carry/__pycache__/run_app.cpython-310.pyc b/carry/carry/__pycache__/run_app.cpython-310.pyc new file mode 100644 index 0000000..0d26d1c Binary files /dev/null and b/carry/carry/__pycache__/run_app.cpython-310.pyc differ diff --git a/carry/carry/component_dependencies.py b/carry/carry/component_dependencies.py new file mode 100644 index 0000000..013bcb3 --- /dev/null +++ b/carry/carry/component_dependencies.py @@ -0,0 +1,123 @@ +# Copyright (c) 2025 TODO. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import ament_index_python as aip +import xml.etree.ElementTree as ET +import json +import yaml + + +def get_manifest(pkg_name): + """ + Return the manifest of a package, if it exports a skill, task or mission. + + :param pkg_name: the name of the package + :returns: a tuple (type of component, manifest dictionary) + """ + path = aip.get_package_share_path(pkg_name) + + package_xml = path / 'package.xml' + if not package_xml.exists(): + return None, None + + tree = ET.parse(package_xml) + root = tree.getroot() + export = root.find('export') + if export is not None: + for type in ["skill", "task", "mission", "app"]: + res = export.find(type) + if res is not None: + content_type = res.attrib.get('content-type', 'json') + content = res.text + if not content.strip(): + print(f"Error while reading the manifest of {type} {pkg_name} " + f"({package_xml}): empty manifest! Skipping.") + continue + if content_type == 'json': + try: + manifest = json.loads(content) + return type, manifest + except json.decoder.JSONDecodeError as jde: + print(f"Error while reading the manifest of {type} {pkg_name} " + f"(from {package_xml}): {jde}. Skipping.") + continue + elif content_type == 'yaml': + manifest = yaml.safe_load(content) + return type, manifest + return None, None + + +def get_component_dependencies(pkg_name): + """ + Return the list of tasks/skills that this application depends on. + + Process: + + 1. get the package.xml of the package + 2. inside the tag, check if the package is a , or + by checking for the presence of any of these tags. + 3. get the content of the tag (ie, the manifest of the package), and parse + it as a json or yaml content, depending on the value of the content-type + attribute. + 4. retrieve the 'dependencies' key of the resulting dictionary. This + dictionary is of the form {"skills": ["skill1", "skill2", ...], "tasks": + ["task1", "task2",...], "mission": [...]} + 5. using ament_index, get the list of all installed packages + 6. parse each of their package.xml + 7. check if they export a , or , and find the ones + matching the required dependencies + 8. return the list of package dependencies, with their manifests. + + :param pkg_name: the name of the package + """ + type, manifest = get_manifest(pkg_name) + + deps = {} + if manifest and "dependencies" in manifest: + deps = manifest["dependencies"] + + if not deps: + return {} + + components = {} + for pkg, _ in aip.get_resources("packages").items(): + type, manifest = get_manifest(pkg) + if type: + components.setdefault(type, []).append((pkg, manifest)) + + result = {} + for type, dep_list in deps.items(): + for dep in dep_list: + if type in components: + found = False + for c in components[type]: + pkg, manifest = c + if manifest["name"] == dep: + result.setdefault(type, []).append(c) + found = True + if not found: + print(f"Missing dependency of <{pkg_name}>: {type} <{dep}>") + else: + print(f"Missing dependency of <{pkg_name}>: {type} <{dep}>") + + return result + + +if __name__ == "__main__": + dependencies = get_component_dependencies("carry") + + print("This component has the following dependencies:") + for type, component in dependencies.items(): + pkg, manifest = component + print(f"- {type} {manifest['name']}, implemented by package {pkg}") diff --git a/carry/carry/mission_controller.py b/carry/carry/mission_controller.py new file mode 100644 index 0000000..2a0b73b --- /dev/null +++ b/carry/carry/mission_controller.py @@ -0,0 +1,361 @@ +# Copyright (c) 2025 TODO. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + + +from nav2_msgs.action import DummyBehavior +from hri_actions_msgs.msg import Intent +from rclpy.action import ActionClient +from rclpy.lifecycle import Node +from rclpy.lifecycle import State +from rclpy.lifecycle import TransitionCallbackReturn + +class MissionController(Node): + + def __init__(self) -> None: + """Construct the node.""" + super().__init__('mission_carry') + + self.get_logger().info("Initialising...") + + self._hri_listener = None + self._intents_sub = None + self._timer = None + self._intent_sub = None + self._intent_pub = None + self._last_intent = None + + self._execute_bt_client = None + self._say_skill_client = None + + self._engage_xml = None + self._instruction_xml = None + self._execution_xml = None + self._disengagement_xml = None + + # parameters + engage_xml = """ + + + + + + + + + + + + """ + + instruction_xml = """ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + """ + + execution_xml = """ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + """ + + disengagement_xml = """ + + + + + + + + + + + + + + + + + + + + """ + + self.declare_parameter('engage_xml', engage_xml) + self.declare_parameter('instruction_xml', instruction_xml) + self.declare_parameter('execution_xml', execution_xml) + self.declare_parameter('disengagement_xml', disengagement_xml) + + self.get_logger().info('Node initialised. Ready to transition to configure.') + + def on_intent(self, msg): + + self.get_logger().info('Received an intent: %s' % msg.intent) + self._last_intent = msg.intent + if msg.intent == Intent.ENGAGE_WITH: + self.get_logger().info('Engaging user') + goal = DummyBehavior.Goal() + self.get_logger().info('Goal msg created') + self.get_logger().info(f'Executing following xml: {self._engage_xml}') + goal.command.data = self._engage_xml + self.get_logger().info('Sending goal!') + self._task_future = self._execute_bt_client.send_goal_async( + goal, + feedback_callback=self.on_feedback) + self.get_logger().info('Goal sent!') + self._task_future.add_done_callback(self.on_execute_bt_goal) + return + elif msg.intent == 'INSTRUCTION': + self.get_logger().info('Received instruction intent') + self.get_logger().info('Waiting for user to point to the correct bag') + goal = DummyBehavior.Goal() + self.get_logger().info('Goal msg created') + self.get_logger().info(f'Executing following xml: {self._engage_xml}') + goal.command.data = self._instruction_xml + self.get_logger().info('Sending goal!') + self._task_future = self._execute_bt_client.send_goal_async( + goal, + feedback_callback=self.on_feedback) + self.get_logger().info('Goal sent!') + self._task_future.add_done_callback(self.on_execute_bt_goal) + return + elif msg.intent == 'TASK_EXECUTION': + self.get_logger().info('Received task execution intent') + self.get_logger().info('Heading to deliver the bag') + goal = DummyBehavior.Goal() + goal.command.data = self._execution_xml + self.get_logger().info('Sending goal') + self._task_future = self._execute_bt_client.send_goal_async( + goal, + feedback_callback=self.on_feedback) + self.get_logger().info('Goal sent!') + self._task_future.add_done_callback(self.on_execute_bt_goal) + return + elif msg.intent == 'DISENGAGE_FROM': + self.get_logger().info('Received disengagement intent') + self.get_logger().info('Disengaging from user') + goal = DummyBehavior.Goal() + goal.command.data = self._disengagement_xml + self.get_logger().info('Sending goal') + self._task_future = self._execute_bt_client.send_goal_async( + goal, + feedback_callback=self.on_feedback) + self.get_logger().info('Goal sent!') + self._task_future.add_done_callback(self.on_execute_bt_goal) + return + else: + self.get_logger().warn("I don't know yet how to process intent " + "<%s>" % msg.intent) + + def on_feedback(self, msg): + self.get_logger().info('Received feedback') + + def on_execute_bt_goal(self, future): + goal_handle = future.result() + if not goal_handle.accepted: + self.get_logger().info('Failed to greet the user. Goal rejected') + return + + self._get_result_future = goal_handle.get_result_async() + self._get_result_future.add_done_callback(self.on_execute_bt_done) + + def on_execute_bt_done(self, future): + self.get_logger().info("Successfully greeted user") + if self._last_intent == Intent.ENGAGE_WITH: + self.get_logger().info("Egagement completed, moving to INSTRUCTION") + msg = Intent() + msg.intent = 'INSTRUCTION' + self._intent_pub.publish(msg) + elif self._last_intent == 'INSTRUCTION': + self.get_logger().info('Instruction completed, moving to TASK EXECUTION') + msg = Intent() + msg.intent = 'TASK_EXECUTION' + self._intent_pub.publish(msg) + elif self._last_intent == 'TASK_EXECUTION': + self.get_logger().info('Task execution completed, moving to DISENGAGEMENT') + msg = Intent() + msg.intent = 'DISENGAGE_FROM' + self._intent_pub.publish(msg) + + ######################################################################### + + ################################# + # + # Lifecycle transitions callbacks + # + ################################# + + def on_configure(self, state: State) -> TransitionCallbackReturn: + """Configure the node.""" + self._engage_xml = self.get_parameter('engage_xml').get_parameter_value().string_value + self._instruction_xml = self.get_parameter('instruction_xml').get_parameter_value().string_value + self._execution_xml = self.get_parameter('execution_xml').get_parameter_value().string_value + self._disengagement_xml = self.get_parameter('disengagement_xml').get_parameter_value().string_value + + self._intent_pub = self.create_lifecycle_publisher(Intent, 'intents', 10) + self._execute_bt_client = ActionClient(self, DummyBehavior, '/execute_bt') + while not self._execute_bt_client.wait_for_server(timeout_sec=1.0): + self.get_logger().info("'greet' task not yet available, waiting again...") + + self.get_logger().info('Node configured. Ready to transition to activate.') + return TransitionCallbackReturn.SUCCESS + + def on_activate(self, state: State) -> TransitionCallbackReturn: + """Activate the node.""" + self._intents_sub = self.create_subscription( + Intent, + '/intents', + self.on_intent, + 10) + + self.get_logger().info("Listening to incoming intents on the %s topic" % + self._intents_sub.topic_name) + + timer_period = 0.1 # in sec + self._timer = self.create_timer(timer_period, self.run) + + self.get_logger().info('Node activated and running.') + return super().on_activate(state) + + def on_deactivate(self, state: State) -> TransitionCallbackReturn: + """Stop the timer to stop calling the `run` function (main task of your application).""" + self.get_logger().info("Stopping application") + + self.destroy_timer(self._timer) + self.destroy_subscription(self._intents_sub) + self.destroy_publisher(self._intent_pub) + self._hri_listener = None + + self.get_logger().info('Node de-activated.') + return super().on_deactivate(state) + + def on_shutdown(self, state: State) -> TransitionCallbackReturn: + """Shutdown the node, after a shutting-down transition is requested.""" + self._execute_bt_client.destroy() + self._say_skill_client.destroy() + + self.destroy_timer(self._timer) + self.destroy_subscription(self._intents_sub) + + self.get_logger().info('Shutting down node.') + return TransitionCallbackReturn.SUCCESS + + def run(self) -> None: + """Background task of your application.""" + msg = Intent() + msg.intent = Intent.ENGAGE_WITH + self._intent_pub.publish(msg) + self._timer.cancel() + pass diff --git a/carry/carry/run_app.py b/carry/carry/run_app.py new file mode 100644 index 0000000..dc4f0d9 --- /dev/null +++ b/carry/carry/run_app.py @@ -0,0 +1,46 @@ +# Copyright (c) 2025 TODO. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +#################################################################### +#################################################################### +# +# AUTO-GENERATED Application +# +# you should not need to modify this file. +# +#################################################################### + +import rclpy + +from rclpy.executors import MultiThreadedExecutor + +import carry.mission_controller + + +def main(): + rclpy.init() + + mission_controller = carry.mission_controller.MissionController() + mission_controller_executor = MultiThreadedExecutor() + mission_controller_executor.add_node(mission_controller) + + try: + mission_controller_executor.spin() + except (KeyboardInterrupt, rclpy.executors.ExternalShutdownException): + print("Goodbye!") + mission_controller.destroy_node() + + +if __name__ == '__main__': + main() diff --git a/carry/launch/carry.launch.py b/carry/launch/carry.launch.py new file mode 100644 index 0000000..47ca388 --- /dev/null +++ b/carry/launch/carry.launch.py @@ -0,0 +1,71 @@ +# Copyright (c) 2025 TODO. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import EmitEvent, RegisterEventHandler +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.events import matches_action, Shutdown +from launch_ros.actions import LifecycleNode +from launch_ros.events.lifecycle import ChangeState +from launch_ros.event_handlers import OnStateTransition +from lifecycle_msgs.msg import Transition +from launch_pal import get_pal_configuration + + +def generate_launch_description(): + pkg = 'carry' + node = 'carry' + ld = LaunchDescription() + + # automatically fetch the start parameters for this node, + # using defaults installed with the skill, as well as possible + # user overrides + config = get_pal_configuration(pkg=pkg, node=node, ld=ld) + + node = LifecycleNode( + package=pkg, + executable='run_app', + namespace='', + name=node, + parameters=config["parameters"], + remappings=config["remappings"], + arguments=config["arguments"], + output='both', emulate_tty=True, + on_exit=Shutdown() + ) + + ld.add_action(node) + + # automatically perform the lifecycle transitions to configure and activate + # the skill at startup + configure_event = EmitEvent(event=ChangeState( + lifecycle_node_matcher=matches_action(node), + transition_id=Transition.TRANSITION_CONFIGURE)) + + ld.add_action(configure_event) + + activate_event = RegisterEventHandler(OnStateTransition( + target_lifecycle_node=node, goal_state='inactive', + entities=[EmitEvent(event=ChangeState( + lifecycle_node_matcher=matches_action(node), + transition_id=Transition.TRANSITION_ACTIVATE))], + handle_once=True)) + + ld.add_action(activate_event) + + return ld diff --git a/carry/module/carry b/carry/module/carry new file mode 100644 index 0000000..82fbe4b --- /dev/null +++ b/carry/module/carry @@ -0,0 +1 @@ +module/carry_module.yaml \ No newline at end of file diff --git a/carry/module/carry_module.yaml b/carry/module/carry_module.yaml new file mode 100644 index 0000000..2d32fd7 --- /dev/null +++ b/carry/module/carry_module.yaml @@ -0,0 +1,3 @@ +carry: + launch: "carry carry.launch.py" + after: "communication_hub" \ No newline at end of file diff --git a/carry/module_set/carry b/carry/module_set/carry new file mode 100644 index 0000000..47e1416 --- /dev/null +++ b/carry/module_set/carry @@ -0,0 +1 @@ +module_set/carry_module_set.yaml \ No newline at end of file diff --git a/carry/module_set/carry_module_set.yaml b/carry/module_set/carry_module_set.yaml new file mode 100644 index 0000000..b6a0904 --- /dev/null +++ b/carry/module_set/carry_module_set.yaml @@ -0,0 +1,2 @@ +carry: + - carry \ No newline at end of file diff --git a/carry/package.xml b/carry/package.xml new file mode 100644 index 0000000..1f2cea2 --- /dev/null +++ b/carry/package.xml @@ -0,0 +1,59 @@ + + + carry + 0.1.0 + Carry my luggage demo + + + + + TODO + + + + + Apache-2.0 + + + + + + + + + + + + + + + + rclpy + lifecycle_msgs + ament_index_python + launch + launch_ros + launch_pal + hri_actions_msgs + pyhri + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + + { + "name": "carry", + "description": "This example mission controller implements a simple, LLM-based dialogue system.", + "dependencies": { + "tasks": ["greet_task"], + "skills": ["say"] + } + } + + + \ No newline at end of file diff --git a/carry/res/carry b/carry/res/carry new file mode 100644 index 0000000..e69de29 diff --git a/carry/res/data.yaml b/carry/res/data.yaml new file mode 100644 index 0000000..5695ee3 --- /dev/null +++ b/carry/res/data.yaml @@ -0,0 +1,3 @@ +# example of resource file. Remove it if you do not need it! +- app_id: carry + my_key: my_value \ No newline at end of file diff --git a/carry/setup.cfg b/carry/setup.cfg new file mode 100644 index 0000000..f26aecd --- /dev/null +++ b/carry/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/carry +[install] +install_scripts=$base/lib/carry \ No newline at end of file diff --git a/carry/setup.py b/carry/setup.py new file mode 100644 index 0000000..9090d0f --- /dev/null +++ b/carry/setup.py @@ -0,0 +1,36 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +from setuptools import find_packages, setup +from glob import glob + +NAME = "carry" + + +setup( + name=NAME, + version="0.1.0", + license="Apache-2.0", + description="Carry my luggage demo", + author="todo", + author_email="todo@todo.todo", + packages=find_packages(exclude=['test']), + data_files=[ + ('share/' + NAME, ['package.xml']), + ('share/ament_index/resource_index/packages', ['res/' + NAME]), + ('share/ament_index/resource_index/pal_system_module', ['module/' + NAME]), + ('share/' + NAME + '/launch', glob('launch/*.launch.py')), + ('share/' + NAME + '/module', ['module/' + NAME + '_module.yaml']), + # uncomment the next two lines to make the application be launched automatically at startup + # ('share/ament_index/resource_index/pal_system_module_set', ['module_set/' + NAME]), + # ('share/' + NAME + '/module_set', ['module_set/' + NAME + '_module_set.yaml']) + ], + tests_require=['pytest'], + install_requires=['setuptools'], + zip_safe=True, + entry_points={ + 'console_scripts': [ + 'run_app = ' + NAME + '.run_app:main' + ], + }, +) diff --git a/carry/test/test_copyright.py b/carry/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/carry/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/carry/test/test_flake8.py b/carry/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/carry/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/carry/test/test_pep257.py b/carry/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/carry/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' diff --git a/robocup_bringup/CMakeLists.txt b/robocup_bringup/CMakeLists.txt index 619196a..adbeaa9 100644 --- a/robocup_bringup/CMakeLists.txt +++ b/robocup_bringup/CMakeLists.txt @@ -16,7 +16,6 @@ find_package(perception REQUIRED) find_package(attention_system REQUIRED) find_package(perception_system REQUIRED) find_package(nav2_behavior_tree REQUIRED) -find_package(backward_ros REQUIRED) set(CMAKE_CXX_STANDARD 17) @@ -32,7 +31,6 @@ set(dependencies attention_system perception_system nav2_behavior_tree - backward_ros ) include_directories(include) @@ -43,6 +41,9 @@ ament_target_dependencies(behaviors_main ${dependencies}) add_executable(real_time_main src/real_time_main.cpp) ament_target_dependencies(real_time_main ${dependencies}) +add_executable(behavior_server_main src/behavior_server.cpp) +ament_target_dependencies(behavior_server_main ${dependencies}) + install(DIRECTORY bt_xml launch config maps DESTINATION share/${PROJECT_NAME} ) @@ -50,6 +51,7 @@ install(DIRECTORY bt_xml launch config maps install(TARGETS behaviors_main real_time_main + behavior_server_main ARCHIVE DESTINATION lib LIBRARY DESTINATION lib RUNTIME DESTINATION lib/${PROJECT_NAME} diff --git a/robocup_bringup/bt_xml/disenggagement_carry_my_luggage.xml b/robocup_bringup/bt_xml/disenggagement_carry_my_luggage.xml new file mode 100644 index 0000000..ec490a3 --- /dev/null +++ b/robocup_bringup/bt_xml/disenggagement_carry_my_luggage.xml @@ -0,0 +1,19 @@ + + + + + + + + + + + + + \ No newline at end of file diff --git a/robocup_bringup/bt_xml/enggagement_carry_my_luggage.xml b/robocup_bringup/bt_xml/enggagement_carry_my_luggage.xml new file mode 100644 index 0000000..ec490a3 --- /dev/null +++ b/robocup_bringup/bt_xml/enggagement_carry_my_luggage.xml @@ -0,0 +1,19 @@ + + + + + + + + + + + + + \ No newline at end of file diff --git a/robocup_bringup/bt_xml/instruction_carry_my_luggage.xml b/robocup_bringup/bt_xml/instruction_carry_my_luggage.xml new file mode 100644 index 0000000..a690571 --- /dev/null +++ b/robocup_bringup/bt_xml/instruction_carry_my_luggage.xml @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/robocup_bringup/bt_xml/receptionist.xml b/robocup_bringup/bt_xml/receptionist.xml index f8d86fa..8604dc0 100644 --- a/robocup_bringup/bt_xml/receptionist.xml +++ b/robocup_bringup/bt_xml/receptionist.xml @@ -15,18 +15,15 @@ - + - + @@ -38,278 +35,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - @@ -350,13 +75,11 @@ Number of guests introduced - + - array of frames value in meters - [depth_nearest, left_to_right]^ diff --git a/robocup_bringup/bt_xml/task_execution_carry_my_luggage.xml b/robocup_bringup/bt_xml/task_execution_carry_my_luggage.xml new file mode 100644 index 0000000..1d9416c --- /dev/null +++ b/robocup_bringup/bt_xml/task_execution_carry_my_luggage.xml @@ -0,0 +1,48 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/robocup_bringup/config/carry_my_luggage/behavior_server.yaml b/robocup_bringup/config/carry_my_luggage/behavior_server.yaml new file mode 100644 index 0000000..bd875f0 --- /dev/null +++ b/robocup_bringup/config/carry_my_luggage/behavior_server.yaml @@ -0,0 +1,20 @@ + +/**: + ros__parameters: + use_sim_time: False + plugins: + - init_carry_bt_node + - is_body_detected_bt_node + - pal_speak_bt_node + - set_start_position_bt_node + - rotate_bt_node + - pal_is_pointing_bt_node + - remove_string_suffix_bt_node + - pan_bt_node + - move_to_bt_node + - pal_move_to_predefined_bt_node + - look_at_bt_node + - is_entity_moving_bt_node + - dialogConfirmation_bt_node + - follow_entity_bt_node + - goal_publisher_bt_node \ No newline at end of file diff --git a/robocup_bringup/config/carry_my_luggage/tiago_nav_params.yaml b/robocup_bringup/config/carry_my_luggage/tiago_nav_params.yaml index 1358f36..7bcf452 100644 --- a/robocup_bringup/config/carry_my_luggage/tiago_nav_params.yaml +++ b/robocup_bringup/config/carry_my_luggage/tiago_nav_params.yaml @@ -1,11 +1,11 @@ amcl: ros__parameters: use_sim_time: False - alpha1: 0.1 - alpha2: 0.1 - alpha3: 0.1 - alpha4: 0.1 - alpha5: 0.1 + alpha1: 0.2 + alpha2: 0.2 + alpha3: 0.2 + alpha4: 0.2 + alpha5: 0.2 base_frame_id: "base_footprint" beam_skip_distance: 0.5 beam_skip_error_threshold: 0.9 @@ -40,8 +40,8 @@ amcl: scan_topic: /scan_raw set_initial_pose: true initial_pose: - x: 1.55 - y: 24.5 + x: 0.0 + y: 0.0 yaw: 0.0 # receptionist initial_pose: # initial_pose: @@ -251,7 +251,6 @@ local_costmap: clear_people_layer: plugin: "nav2_costmap_2d::ClearPeopleLayer" person_radious: 1.0 - person_frame: person_0_filtered obstacle_layer: plugin: "nav2_costmap_2d::ObstacleLayer" enabled: True @@ -278,7 +277,7 @@ global_costmap: use_sim_time: False robot_radius: 0.29 resolution: 0.05 - plugins: ["static_layer", "obstacle_layer", "inflation_layer", "clear_people_layer"] + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] obstacle_layer: plugin: "nav2_costmap_2d::ObstacleLayer" enabled: True @@ -305,8 +304,6 @@ global_costmap: clear_people_layer: plugin: "nav2_costmap_2d::ClearPeopleLayer" person_radious: 0.5 - person_frame: person_0_filtered - enabled: True always_send_full_costmap: True map_server: diff --git a/robocup_bringup/config/receptionist/receptionist_params.yaml b/robocup_bringup/config/receptionist/receptionist_params.yaml index 1f9fbef..ab115da 100644 --- a/robocup_bringup/config/receptionist/receptionist_params.yaml +++ b/robocup_bringup/config/receptionist/receptionist_params.yaml @@ -41,4 +41,4 @@ behaviors_main: - filter_entity_bt_node - extract_entity_color_bt_node - move_along_axis_bt_node - - check_policy_bt_node + - is_face_detected_bt_node diff --git a/robocup_bringup/launch/behavior_server.launch.py b/robocup_bringup/launch/behavior_server.launch.py new file mode 100644 index 0000000..de7a98f --- /dev/null +++ b/robocup_bringup/launch/behavior_server.launch.py @@ -0,0 +1,49 @@ +# Copyright 2024 Intelligent Robotics Lab - Gentlebots +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +# from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +# from launch.launch_description_sources import PythonLaunchDescriptionSource +# from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +# from launch.actions import LogInfo, RegisterEventHandler +# from launch.event_handlers import OnExecutionComplete +# import lifecycle_msgs +# from launch_ros.events.lifecycle + + +def generate_launch_description(): + + package_dir = get_package_share_directory('robocup_bringup') + + config = os.path.join( + package_dir, + 'config', + 'carry_my_luggage', + 'behavior_server.yaml') + + carry_my_luggage = Node( + package='robocup_bringup', + executable='behavior_server_main', + parameters=[config], + output='screen', + ) + + ld = LaunchDescription() + + ld.add_action(carry_my_luggage) + return ld diff --git a/robocup_bringup/launch/carry_my_luggage.launch.py b/robocup_bringup/launch/carry_my_luggage.launch.py index 816a66a..0a4ffc4 100644 --- a/robocup_bringup/launch/carry_my_luggage.launch.py +++ b/robocup_bringup/launch/carry_my_luggage.launch.py @@ -30,17 +30,16 @@ def generate_launch_description(): package_dir = get_package_share_directory('robocup_bringup') - config = os.path.join( - package_dir, - 'config', - 'carry_my_luggage', - 'carry_my_luggage.yaml' - ) + # config = os.path.join( + # package_dir, + # 'config', + # 'carry_my_luggage', + # 'carry_my_luggage.yaml' + # ) carry_my_luggage = Node( - package='robocup_bringup', - executable='behaviors_main', - parameters=[config], + package='carry', + executable='run_app', output='screen', ) diff --git a/robocup_bringup/launch/carry_my_luggage_dependencies.launch.py b/robocup_bringup/launch/carry_my_luggage_dependencies.launch.py index b21d88c..845a9f9 100644 --- a/robocup_bringup/launch/carry_my_luggage_dependencies.launch.py +++ b/robocup_bringup/launch/carry_my_luggage_dependencies.launch.py @@ -1,17 +1,3 @@ -# Copyright 2024 Intelligent Robotics Lab - Gentlebots -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - import os from ament_index_python.packages import get_package_share_directory @@ -19,108 +5,95 @@ from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_ros.actions import Node -# from launch.actions import LogInfo, RegisterEventHandler -# from launch.event_handlers import OnExecutionComplete -# import lifecycle_msgs -# from launch_ros.events.lifecycle +from launch_ros.actions import SetRemap def generate_launch_description(): - move_group_dir = get_package_share_directory('tiago_mtc_examples') - manipulation_dir = get_package_share_directory('manipulation_action_server') - yolo3d_dir = get_package_share_directory('yolov8_bringup') navigation_dir = get_package_share_directory('navigation_system') + hri_body_detect_dir = get_package_share_directory('hri_body_detect') whisper_dir = get_package_share_directory('whisper_bringup') package_dir = get_package_share_directory('robocup_bringup') - # audio related launchers: + navigation = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(navigation_dir, 'launch', 'navigation_system.launch.py') + ), + launch_arguments={ + 'rviz': 'True', + 'mode': 'amcl', + 'params_file': package_dir + '/config/carry_my_luggage/tiago_nav_params.yaml', + 'slam_params_file': package_dir + + '/config/carry_my_luggage/tiago_nav_follow_params.yaml', + 'map': os.path.join( + package_dir, + 'maps', + 'lab_test.yaml'), + }.items() + ) whisper_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(whisper_dir, 'launch', 'whisper.launch.py') - ) - ) - audio_common_player_node = Node( - package='audio_common', - executable='audio_player_node', - parameters=[ - {'channels': 2}, - {'device': -1}] + ), + launch_arguments={ + 'silero_vad_use_cuda': 'False', + }.items() ) - audio_common_tts_node = Node( - package='tts_ros', - executable='tts_node', + execute_bt_server = Node( + package='robocup_bringup', + executable='behavior_server_main', + output='screen', + name='behavior_server2', parameters=[ - {'chunk': 4096}, - {'frame_id': ''}, - {'model': 'tts_models/en/ljspeech/vits'}, - {'speaker_wav': ''}, - {'device': 'cuda'}] + os.path.join(package_dir, + 'config', + 'carry_my_luggage', + 'behavior_server.yaml') + ] ) - # manipulation launchers - move_group = IncludeLaunchDescription( + hri_body_detect = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(move_group_dir, 'launch', 'move_group.launch.py') - ) + os.path.join(hri_body_detect_dir, 'launch', 'hri_body_detect.launch.py') + ), + launch_arguments={ + 'use_depth': 'true', + 'use_cmc': 'true', + }.items() ) - manipulation_server = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(manipulation_dir, 'launch', 'server.launch.py') + ld = LaunchDescription() + + ld.add_action(whisper_cmd) + ld.add_action( + SetRemap( + src='image', + dst='/head_front_camera/rgb/image_raw' ) ) - - # real time launcher - real_time = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(package_dir, 'launch', 'real_time.launch.py') + ld.add_action( + SetRemap( + src='camera_info', + dst='/head_front_camera/rgb/camera_info' ) ) - - yolo3d = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(yolo3d_dir, 'launch', 'yolov8_3d.launch.py') - ), - launch_arguments={ - # 'namespace': 'perception_system', - 'model': 'yolov8n-pose.pt', - 'input_image_topic': '/head_front_camera/rgb/image_raw', - 'input_depth_topic': '/head_front_camera/depth/image_raw', - 'input_depth_info_topic': '/head_front_camera/depth/camera_info', - 'depth_image_units_divisor': '1000', # 1 for simulation, 1000 in real robot - 'target_frame': 'head_front_camera_rgb_optical_frame', - 'threshold': '0.5' - }.items() + ld.add_action( + SetRemap( + src='depth_image', + dst='/head_front_camera/depth/image_raw' + ) ) - - navigation = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(navigation_dir, 'launch', 'navigation_system.launch.py') - ), - launch_arguments={ - 'rviz': 'True', - 'mode': 'amcl', - 'params_file': package_dir + '/config/carry_my_luggage/tiago_nav_params.yaml', - 'slam_params_file': package_dir + - '/config/carry_my_luggage/tiago_nav_follow_params.yaml', - 'map': os.path.join( - package_dir, - 'maps', - 'carry_map.yaml'), - }.items() + ld.add_action( + SetRemap( + src='depth_info', + dst='/head_front_camera/rgb/camera_info' + ) ) - ld = LaunchDescription() ld.add_action(navigation) - ld.add_action(whisper_cmd) - ld.add_action(audio_common_player_node) - ld.add_action(audio_common_tts_node) - ld.add_action(yolo3d) - ld.add_action(real_time) - ld.add_action(move_group) - ld.add_action(manipulation_server) + ld.add_action(hri_body_detect) + ld.add_action(execute_bt_server) return ld diff --git a/robocup_bringup/launch/dialog.launch.py b/robocup_bringup/launch/dialog.launch.py index dae5514..d988e4c 100644 --- a/robocup_bringup/launch/dialog.launch.py +++ b/robocup_bringup/launch/dialog.launch.py @@ -78,9 +78,9 @@ def generate_launch_description(): parameters=[ {'chunk': 4096}, {'frame_id': ''}, - {'model': 'tts_models/en/ljspeech/vits'}, + {'model': 'tts_models/en/ljspeech/glow-tts'}, {'speaker_wav': ''}, - {'device': 'cuda'}] + {'device': 'cpu'}] ) audio_common_player_node = Node( @@ -97,12 +97,12 @@ def generate_launch_description(): ) ld = LaunchDescription() - ld.add_action(declare_model_repo_cmd) - ld.add_action(declare_model_filename_cmd) - ld.add_action(whisper_cmd) - ld.add_action(llama_cmd) + # ld.add_action(declare_model_repo_cmd) + # ld.add_action(declare_model_filename_cmd) + # ld.add_action(whisper_cmd) + # ld.add_action(llama_cmd) ld.add_action(audio_common_tts_node) ld.add_action(audio_common_player_node) - ld.add_action(music_player_node) + # ld.add_action(music_player_node) return ld diff --git a/robocup_bringup/launch/navigation_follow.launch.py b/robocup_bringup/launch/navigation_follow.launch.py index f85cdf3..ac7f05a 100644 --- a/robocup_bringup/launch/navigation_follow.launch.py +++ b/robocup_bringup/launch/navigation_follow.launch.py @@ -25,115 +25,25 @@ def generate_launch_description(): package_dir = get_package_share_directory('robocup_bringup') - nav2_dir = get_package_share_directory('nav2_bringup') - small_objects_dir = get_package_share_directory('small_objects_detector') - pcl_to_laser_dir = get_package_share_directory('pointcloud_to_laserscan') - - # Configuration Variables - use_sim_time = LaunchConfiguration('use_sim_time') - # slam = LaunchConfiguration('slam') - rviz = LaunchConfiguration('rviz') - # map_file = LaunchConfiguration('map') - params_file = LaunchConfiguration('params_file') - - declare_use_sim_time_cmd = DeclareLaunchArgument( - 'use_sim_time', default_value='false') - - declare_slam_cmd = DeclareLaunchArgument( - 'slam', default_value='True') - - declare_use_rviz_cmd = DeclareLaunchArgument( - 'rviz', default_value='False') - - declare_map_cmd = DeclareLaunchArgument( - 'map', default_value='') - - declare_nav_params_cmd = DeclareLaunchArgument( - 'params_file', default_value=os.path.join( - package_dir, - 'params', - 'tiago_nav_follow_params.yaml') - ) - - # Actions - small_objects_cmd = IncludeLaunchDescription( + navigation_dir = get_package_share_directory('navigation_system') + + navigation = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(small_objects_dir, 'launch', 'detector.launch.py') - ), - ) - - pcl_to_laser_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pcl_to_laser_dir, - 'launch', - 'sample_pointcloud_to_laserscan_launch.py') - ), - ) - - # localization_cmd = IncludeLaunchDescription( - # PythonLaunchDescriptionSource( - # os.path.join(nav2_dir, 'launch', 'localization_launch.py') - # ), - # launch_arguments={ - # 'use_sim_time': use_sim_time, - # 'slam': slam, - # 'map': map_file, - # 'params_file': params_file - # }.items(), - # ) - - slam_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(package_dir, 'launch', 'slam_launch.py') - ), - launch_arguments={ - 'use_sim_time': use_sim_time, - 'params_file': params_file - }.items(), - ) - - navigation_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(nav2_dir, 'launch', 'navigation_launch.py') + os.path.join(navigation_dir, 'launch', 'navigation_system.launch.py') ), launch_arguments={ - 'use_sim_time': use_sim_time, - 'params_file': params_file + 'rviz': 'True', + 'mode': 'amcl', + 'params_file': package_dir + '/config/carry_my_luggage/tiago_nav_params.yaml', + 'slam_params_file': package_dir + + '/config/carry_my_luggage/tiago_nav_follow_params.yaml', + 'map': os.path.join( + package_dir, + 'maps', + 'lab_test.yaml'), }.items() ) - # navigation_system_node = Node( - # package='navigation_system', - # executable='navigation_system_node', - # name='navigation_system_node', - # output='screen', - # parameters=[{'nodes': [], - # 'mode': 'amcl'}] - # ) - - rviz_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(nav2_dir, 'launch', 'rviz_launch.py') - ), - launch_arguments={ - 'use_sim_time': use_sim_time, - 'rviz': rviz - }.items(), - condition=IfCondition(rviz) - ) - ld = LaunchDescription() - ld.add_action(declare_use_sim_time_cmd) - ld.add_action(declare_slam_cmd) - ld.add_action(declare_nav_params_cmd) - ld.add_action(declare_use_rviz_cmd) - ld.add_action(declare_map_cmd) - ld.add_action(small_objects_cmd) - ld.add_action(pcl_to_laser_cmd) - # ld.add_action(localization_cmd) Not needed for slam =P - ld.add_action(slam_cmd) - ld.add_action(navigation_cmd) - ld.add_action(rviz_cmd) - # ld.add_action(navigation_system_node) - + ld.add_action(navigation) return ld diff --git a/robocup_bringup/launch/receptionist_dependencies.launch.py b/robocup_bringup/launch/receptionist_dependencies.launch.py index d3c5abe..8468e9b 100644 --- a/robocup_bringup/launch/receptionist_dependencies.launch.py +++ b/robocup_bringup/launch/receptionist_dependencies.launch.py @@ -31,6 +31,7 @@ def generate_launch_description(): package_dir = get_package_share_directory('robocup_bringup') yolo3d_dir = get_package_share_directory('yolov8_bringup') navigation_dir = get_package_share_directory('navigation_system') + face_detection_dir = get_package_share_directory('hri_face_detect') # manipulation launchers move_group = IncludeLaunchDescription( @@ -68,6 +69,18 @@ def generate_launch_description(): }.items() ) + hri_face_detect = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(face_detection_dir, 'launch', 'face_detect_with_args.launch.py') + ), + launch_arguments={ + 'filtering_frame': 'head_front_camera_link_color_optical_frame', + 'deterministic_ids': 'false', + 'rgb_camera_topic': '/head_front_camera/image', + 'rgb_camera_info': '/head_front_camera/camera_info' + }.items() + ) + dialog = IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(package_dir, 'launch', 'dialog.launch.py') @@ -91,11 +104,12 @@ def generate_launch_description(): ) ld = LaunchDescription() - ld.add_action(navigation) + # ld.add_action(navigation) ld.add_action(dialog) ld.add_action(yolo3d) + ld.add_action(hri_face_detect) ld.add_action(real_time) - ld.add_action(move_group) - ld.add_action(manipulation_server) + # ld.add_action(move_group) + # ld.add_action(manipulation_server) return ld diff --git a/robocup_bringup/maps/ir_lab.data b/robocup_bringup/maps/ir_lab.data deleted file mode 100644 index cefb2d4..0000000 Binary files a/robocup_bringup/maps/ir_lab.data and /dev/null differ diff --git a/robocup_bringup/maps/ir_lab.posegraph b/robocup_bringup/maps/ir_lab.posegraph deleted file mode 100644 index d22e2cd..0000000 Binary files a/robocup_bringup/maps/ir_lab.posegraph and /dev/null differ diff --git a/robocup_bringup/maps/ir_lab.pgm b/robocup_bringup/maps/lab_test.pgm similarity index 54% rename from robocup_bringup/maps/ir_lab.pgm rename to robocup_bringup/maps/lab_test.pgm index e4cf75f..a20d34d 100644 --- a/robocup_bringup/maps/ir_lab.pgm +++ b/robocup_bringup/maps/lab_test.pgm @@ -1,4 +1,5 @@ P5 -446 353 +# Created by GIMP version 2.10.38 PNM plug-in +345 368 255 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\ No newline at end of file diff --git a/robocup_bringup/maps/ir_lab.yaml b/robocup_bringup/maps/lab_test.yaml similarity index 50% rename from robocup_bringup/maps/ir_lab.yaml rename to robocup_bringup/maps/lab_test.yaml index b7e9a63..4fb949a 100644 --- a/robocup_bringup/maps/ir_lab.yaml +++ b/robocup_bringup/maps/lab_test.yaml @@ -1,7 +1,7 @@ -image: ir_lab.pgm +image: lab_test.pgm mode: trinary resolution: 0.05 -origin: [-8.42, -12.6, 0] +origin: [-6.99, -11.6, 0] negate: 0 occupied_thresh: 0.65 -free_thresh: 0.25 +free_thresh: 0.25 \ No newline at end of file diff --git a/robocup_bringup/package.xml b/robocup_bringup/package.xml index 2f5120a..6aa729a 100644 --- a/robocup_bringup/package.xml +++ b/robocup_bringup/package.xml @@ -11,13 +11,13 @@ rclcpp rclcpp_cascade_lifecycle behaviortree_cpp_v3 - backward_ros arm configuration - hri motion perception + robocup_hri + carry ament_lint_auto ament_lint_common diff --git a/robocup_bringup/src/behavior_server.cpp b/robocup_bringup/src/behavior_server.cpp new file mode 100644 index 0000000..672a428 --- /dev/null +++ b/robocup_bringup/src/behavior_server.cpp @@ -0,0 +1,147 @@ +#include +#include +#include +#include "behaviortree_cpp_v3/behavior_tree.h" +#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp_v3/loggers/bt_zmq_publisher.h" +#include "behaviortree_cpp_v3/utils/shared_library.h" +#include "rclcpp_cascade_lifecycle/rclcpp_cascade_lifecycle.hpp" + +using std::placeholders::_1; +using std::placeholders::_2; + +class ExecuteBTServer : public rclcpp_cascade_lifecycle::CascadeLifecycleNode +{ +public: + using DummyBehavior = nav2_msgs::action::DummyBehavior; + using GoalHandleDummyBehavior = rclcpp_action::ServerGoalHandle; + + explicit ExecuteBTServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions()) + : CascadeLifecycleNode("behavior_server", options) + { + // auto options = rclcpp::NodeOptions(); + // options.allow_undeclared_parameters(true); + // options.automatically_declare_parameters_from_overrides(true); + auxiliary_node_ = std::make_shared("behaviors_main"); + + this->declare_parameter("plugins", std::vector()); + this->declare_parameter("rate", 1.0); + this->declare_parameter("use_shared_bb", true); + + } + rclcpp::CallbackGroup::SharedPtr callback_group; + rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_configure(const rclcpp_lifecycle::State &) + { + RCLCPP_INFO(this->get_logger(), "Configuring"); + + this->get_parameter("plugins", this->plugins_); + this->get_parameter("use_shared_bb", this->use_shared_bb_); + double rate; + this->get_parameter("rate", rate); + callback_group = this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); + rate_ = std::make_unique(rate); + + for (const auto & plugin : plugins_) { + RCLCPP_INFO(this->get_logger(), "Loading BT Node: [%s]", plugin.c_str()); + factory_.registerFromPlugin(loader_.getOSName(plugin)); + } + blackboard_ = BT::Blackboard::create(); + blackboard_->set("node", std::static_pointer_cast(auxiliary_node_)); + + this->action_server_ = rclcpp_action::create_server( + this->get_node_base_interface(), + this->get_node_clock_interface(), + this->get_node_logging_interface(), + this->get_node_waitables_interface(), + "execute_bt", + std::bind(&ExecuteBTServer::handle_goal, this, _1, _2), + std::bind(&ExecuteBTServer::handle_cancel, this, _1), + std::bind(&ExecuteBTServer::handle_accepted, this, _1), + rcl_action_server_get_default_options(), + callback_group); + // Add your configuration code here + return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS; + } + + rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_activate(const rclcpp_lifecycle::State &) + { + RCLCPP_INFO(this->get_logger(), "Activating"); + return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS; + } + +private: + rclcpp_action::Server::SharedPtr action_server_;; + std::vector plugins_; + std::string bt_xml_file_; + bool use_shared_bb_; + rclcpp_cascade_lifecycle::CascadeLifecycleNode::SharedPtr auxiliary_node_; + + std::unique_ptr rate_; + BT::BehaviorTreeFactory factory_; + BT::SharedLibrary loader_; + BT::Blackboard::Ptr blackboard_; + + rclcpp_action::GoalResponse handle_goal( + const rclcpp_action::GoalUUID & uuid, + std::shared_ptr goal) + { + RCLCPP_INFO(this->get_logger(), "Received goal request"); + (void)uuid; + return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; + } + + rclcpp_action::CancelResponse handle_cancel( + const std::shared_ptr goal_handle) + { + RCLCPP_INFO(this->get_logger(), "Received request to cancel goal"); + (void)goal_handle; + return rclcpp_action::CancelResponse::ACCEPT; + } + + void handle_accepted(const std::shared_ptr goal_handle) + { + std::thread{std::bind(&ExecuteBTServer::execute, this, _1), goal_handle}.detach(); + } + + void execute(const std::shared_ptr goal_handle) + { + RCLCPP_INFO(this->get_logger(), "Executing goal"); + const auto goal = goal_handle->get_goal(); + auto result = std::make_shared(); + RCLCPP_INFO(this->get_logger(), "Loading BT: [%s]", goal->command.data.c_str()); + BT::Tree tree = factory_.createTreeFromText(goal->command.data, blackboard_); + // auto zmq_publisher_ = std::make_unique(tree, 10, 1666, 1667); + + while (rclcpp::ok()) { + if (tree.tickRoot() != BT::NodeStatus::RUNNING) { + break; + } + RCLCPP_INFO(this->get_logger(), "Now spinning"); + rclcpp::spin_some(auxiliary_node_->get_node_base_interface()); + rate_->sleep(); + } + + if (use_shared_bb_) + { + blackboard_ = tree.rootBlackboard(); + } + + goal_handle->succeed(result); + + } +}; + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + rclcpp::NodeOptions node_options; + // auto executor = std::make_shared(); + auto node = std::make_shared(node_options); + node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE); + node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE); + // executor->add_callback_group(node->callback_group, node->get_node_base_interface()); + // executor->spin(); + rclcpp::spin(node->get_node_base_interface()); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file diff --git a/robocup_bringup/src/real_time_main.cpp b/robocup_bringup/src/real_time_main.cpp index 1573860..e158648 100644 --- a/robocup_bringup/src/real_time_main.cpp +++ b/robocup_bringup/src/real_time_main.cpp @@ -37,8 +37,9 @@ int main(int argc, char ** argv) // Creating of all systems nodes std::list> sched_nodes = { std::make_shared(node_options), - std::make_shared(node_options), - std::make_shared(node_options)}; + // std::make_shared(node_options), + std::make_shared(node_options) + }; // Adding systems nodes to the appropiate executor for (auto & sched_node : sched_nodes) { diff --git a/robocup_bringup/thirdparty.repos b/robocup_bringup/thirdparty.repos index 6ba6565..9d9d658 100644 --- a/robocup_bringup/thirdparty.repos +++ b/robocup_bringup/thirdparty.repos @@ -1,12 +1,12 @@ repositories: - ThirdParty/pointcloud_to_laserscan: - type: git - url: https://github.com/Juancams/pointcloud_to_laserscan.git - version: humble - ThirdParty/small_objects_detector: - type: git - url: https://github.com/gentlebots/small_objects_detector.git - version: robocup + # ThirdParty/pointcloud_to_laserscan: + # type: git + # url: https://github.com/Juancams/pointcloud_to_laserscan.git + # version: humble + # ThirdParty/small_objects_detector: + # type: git + # url: https://github.com/gentlebots/small_objects_detector.git + # version: robocup ThirdParty/audio_common: type: git url: https://github.com/mgonzs13/audio_common.git @@ -15,62 +15,62 @@ repositories: type: git url: https://github.com/mgonzs13/whisper_ros.git version: main - ThirdParty/llama_ros: - type: git - url: https://github.com/mgonzs13/llama_ros.git - version: main - ThirdParty/moveit_task_constructor: - type: git - url: https://github.com/juandpenan/moveit_task_constructor.git - version: humble - ThirdParty/tiago_mtc_examples: - type: git - url: https://github.com/juandpenan/tiago_mtc_examples.git - version: main - ThirdParty/yolov8_ros: - type: git - url: https://github.com/jmguerreroh/yolov8_ros.git - version: main + # ThirdParty/llama_ros: + # type: git + # url: https://github.com/mgonzs13/llama_ros.git + # version: main + # ThirdParty/moveit_task_constructor: + # type: git + # url: https://github.com/juandpenan/moveit_task_constructor.git + # version: humble + # ThirdParty/tiago_mtc_examples: + # type: git + # url: https://github.com/juandpenan/tiago_mtc_examples.git + # version: main + # ThirdParty/yolov8_ros: + # type: git + # url: https://github.com/jmguerreroh/yolov8_ros.git + # version: main ThirdParty/rclcpp_cascade_lifecycle: type: git url: https://github.com/fmrico/cascade_lifecycle.git version: rolling - ThirdParty/tts_ros: - type: git - url: https://github.com/mgonzs13/tts_ros - version: main + # ThirdParty/tts_ros: + # type: git + # url: https://github.com/mgonzs13/tts_ros + # version: main ThirdParty/slam_toolbox: type: git url: https://github.com/SteveMacenski/slam_toolbox.git version: 0e5df90d51b5346e2c1be8b42dd59b3a4271eb67 - ThirdParty/tiago_robot: - type: git - url: https://github.com/juandpenan/tiago_robot.git - version: steamdeck - ThirdParty/gpd: - type: git - url: https://github.com/atenpas/gpd.git - version: master - systems/manipulation_server: - type: git - url: https://github.com/rodperex/manipulation_server.git - version: main - systems/perception_system: - type: git - url: https://github.com/jmguerreroh/perception_system.git - version: main - systems/attention_system: - type: git - url: https://github.com/aaggj/attention_system - version: humble + # ThirdParty/tiago_robot: + # type: git + # url: https://github.com/juandpenan/tiago_robot.git + # version: steamdeck + # ThirdParty/gpd: + # type: git + # url: https://github.com/atenpas/gpd.git + # version: master + # systems/manipulation_server: + # type: git + # url: https://github.com/rodperex/manipulation_server.git + # version: main + # systems/perception_system: + # type: git + # url: https://github.com/jmguerreroh/perception_system.git + # version: main + # systems/attention_system: + # type: git + # url: https://github.com/aaggj/attention_system + # version: humble systems/navigation_system: type: git url: https://github.com/Juancams/navigation_system.git version: main - ThirdParty/gpsr_planning: - type: git - url: https://github.com/igonzf/GPSR_planning - version: main + # ThirdParty/gpsr_planning: + # type: git + # url: https://github.com/igonzf/GPSR_planning + # version: main