Merge pull request #183 from RoBorregos/feature/ros_noetic

ROSNOETIC MIGRATION - 2021 DEV

.github/workflows/catkin.yml

@@ -12,15 +12,15 @@ env:
 
 jobs:
   build:
-    runs-on: [ubuntu-18.04]
+    runs-on: [ubuntu-20.04]
     steps:
     - name: ACTIONS_ALLOW_UNSECURE_COMMANDS
       id: ACTIONS_ALLOW_UNSECURE_COMMANDS
       run: echo 'ACTIONS_ALLOW_UNSECURE_COMMANDS=true' >> $GITHUB_ENV
     - uses: actions/checkout@v1
-    - uses: betwo/github-setup-catkin@v1.1.1
+    - uses: betwo/github-setup-catkin@v1.3.0
       with:
-        ros-version: 'melodic'
+        ros-version: 'noetic'
         workspace: '$GITHUB_WORKSPACE/catkin_home'
     - run: |
         cd $GITHUB_WORKSPACE/catkin_home

.gitignore

@@ -24,7 +24,9 @@
 /catkin_home/src/action_selectors/scripts/DeepSpeech/data/librispeech/manifest.dev-clean
 /catkin_home/src/action_selectors/scripts/DeepSpeech/data/librispeech/manifest.test-clean
 /catkin_home/src/action_selectors/scripts/DeepSpeech/models/baidu_en8k/mean_std.npz
+/catkin_home/src/action_selectors/scripts/DeepSpeech/models/baidu_en8k/params.pdparams
 /catkin_home/src/action_selectors/scripts/DeepSpeech/models/baidu_en8k/params.tar.gz
+/catkin_home/src/action_selectors/scripts/DeepSpeech/models/baidu_en8k/README.md
 /catkin_home/src/action_selectors/scripts/DeepSpeech/models/baidu_en8k/vocab.txt
 /catkin_home/src/action_selectors/scripts/DeepSpeech/models/lm/lm.binary
 /catkin_home/src/action_selectors/data/AzureSTTAPIKey.txt
@@ -40,12 +42,23 @@ wrokspace.code-workspace
 
 ### OBJECT DETECTION ###
 /object_detection/venv/
-/object_detection/models/
+/object_detection/models/model_tf2
+/object_detection/models/dependencies/TensorFlow
+/object_detection/models/dependencies/coco
+/object_detection/images/train
 
-### Others ###
+### CONVERSATION ###
+catkin_home/src/action_selectors/scripts/FaceDetection/haarcascade_frontalface_default.xml
 /rasa/venv/
+/rasa/models/
+/rasa/results/
+out.log
+
+
+### Others ###
 *.DS_Store
 *.pyc
 .vscode/
+venv/
 
 # End 

Makefile

@@ -1,127 +1,73 @@
 # ----------------------------------------------------------------------
-#  Development Melodic
+#  Development Noetic
 # ----------------------------------------------------------------------
 
-#: Builds a Docker image from the current Dockerfile file
-melodic.build:
-	@docker build -t ros:melodic -f docker/melodic/Dockerfile .
-melodic.speech.build:
-	@docker build -t ros:melodic-speech -f docker/melodic/Dockerfile.speech .
-melodic.speech.gpu.build:
-	@docker build -t ros:melodic-speech-gpu -f docker/melodic/Dockerfile.speech.gpu .
-melodic.navigation.build:
-	@docker build -t ros:melodic-navigation -f docker/melodic/Dockerfile.navigation .
-melodic.navigation.gpu.build:
-	@docker build -t ros:melodic-navigation-gpu -f docker/melodic/Dockerfile.navigation.gpu .
+#: Builds a Docker image with the corresponding Dockerfile file
+noetic.build:
+	@docker build -t ros:home -f docker/noetic/Dockerfile .
+noetic.speech.build:
+	@docker build -t ros:home -f docker/noetic/Dockerfile.speech .
+noetic.navigation.build:
+	@docker build -t ros:home -f docker/noetic/Dockerfile.navigation .
+noetic.objectDetection.build:
+	@docker build -t ros:home -f docker/noetic/Dockerfile.objectDetection .
 
-#: Create Docker container
-melodic.create: 
-	@docker run \
-		-it -d \
-		-v ${shell pwd}/catkin_home/src:/catkin_home/src \
-		-v ${shell pwd}/catkin_home/typings:/catkin_home/typings \
-		--network host \
-		--name ros-melodic \
-		ros:melodic
-melodic.speech.create:
-	@docker run \
-		-it -d \
-		--device /dev/snd:/dev/snd \
-		-v ${shell pwd}/catkin_home/src:/catkin_home/src \
-		-v /catkin_home/src/action_selectors/scripts/DeepSpeech/decoders/swig  \
-		-v /catkin_home/src/action_selectors/scripts/DeepSpeech/data/librispeech  \
-		-v ${shell pwd}/catkin_home/typings:/catkin_home/typings \
-		--network host \
-		--name ros-melodic-speech \
-		ros:melodic-speech
-melodic.speech.gpu.create:
-	@docker run \
-		-it -d \
-		--gpus all \
-		--device /dev/snd:/dev/snd \
-		-v ${shell pwd}/catkin_home/src:/catkin_home/src \
-		-v /catkin_home/src/action_selectors/scripts/DeepSpeech/decoders/swig  \
-		-v /catkin_home/src/action_selectors/scripts/DeepSpeech/data/librispeech  \
-		-v ${shell pwd}/catkin_home/typings:/catkin_home/typings \
-		--network host \
-		--name ros-melodic-speech-gpu \
-		ros:melodic-speech-gpu
-melodic.navigation.create:
-	@./docker/melodic/runNavigation.bash
-melodic.navigation.gpu.create:
-	@./docker/melodic/runNavigationGpu.bash
+#: Create Generic Docker container
+noetic.create: 
+	@./docker/run_scripts/run.bash
+noetic.create.intel: 
+	@./docker/run_scripts/runIntelGpu.bash
+noetic.create.nvidia: 
+	@./docker/run_scripts/runNvidiaGpu.bash
+
+#: Create Navigation Docker container
+noetic.navigation.create: 
+	@./docker/run_scripts/run.bash IS_NAVIGATION
+noetic.navigation.create.intel: 
+	@./docker/run_scripts/runIntelGpu.bash IS_NAVIGATION
+noetic.navigation.create.nvidia: 
+	@./docker/run_scripts/runNvidiaGpu.bash IS_NAVIGATION
+
+#: Create Speech Docker container
+noetic.speech.create: 
+	@./docker/run_scripts/run.bash IS_SPEECH
+noetic.speech.create.intel: 
+	@./docker/run_scripts/runIntelGpu.bash IS_SPEECH
+noetic.speech.create.nvidia: 
+	@./docker/run_scripts/runNvidiaGpu.bash IS_SPEECH
+
+#: Create ObjectDetection Docker container
+noetic.objectDetection.create: 
+	@./docker/run_scripts/run.bash IS_OBJECT_DETECTION
+noetic.objectDetection.create.intel: 
+	@./docker/run_scripts/runIntelGpu.bash IS_OBJECT_DETECTION
+noetic.objectDetection.create.nvidia: 
+	@./docker/run_scripts/runNvidiaGpu.bash IS_OBJECT_DETECTION
 
 #: Start the container in background
-melodic.up:
-	@docker start ros-melodic
-melodic.speech.up:
-	@docker start ros-melodic-speech
-melodic.speech.gpu.up:
-	@docker start ros-melodic-speech-gpu
-melodic.navigation.up:
-	@docker start ros-melodic-navigation
-melodic.navigation.gpu.up:
-	@docker start ros-melodic-navigation-gpu
+noetic.up:
+	@xhost +
+	@docker start ros-home
 
 #: Stop the container
-melodic.down:
-	@docker stop ros-melodic
-melodic.speech.down:
-	@docker stop ros-melodic-speech
-melodic.speech.gpu.down:
-	@docker stop ros-melodic-speech-gpu
-melodic.navigation.down:
-	@docker stop ros-melodic-navigation
-melodic.navigation.gpu.down:
-	@docker stop ros-melodic-navigation-gpu
+noetic.down:
+	@docker stop ros-home
 
 #: Restarts the container
-melodic.restart:
-	@docker restart ros-melodic
-melodic.speech.restart:
-	@docker restart ros-melodic-speech
-melodic.speech.gpu.restart:
-	@docker restart ros-melodic-speech-gpu
-melodic.navigation.restart:
-	@docker restart ros-melodic-navigation
-melodic.navigation.gpu.restart:
-	@docker restart ros-melodic-navigation-gpu
+noetic.restart:
+	@docker restart ros-home
 
-#: Shows the logs of the ros-melodic service container
-melodic.logs:
-	@docker logs --tail 50 ros-melodic
-melodic.speech.logs:
-	@docker logs --tail 50 ros-melodic-speech
-melodic.speech.gpu.logs:
-	@docker logs --tail 50 ros-melodic-speech-gpu
-melodic.navigation.logs:
-	@docker logs --tail 50 ros-melodic-navigation
-melodic.navigation.gpu.logs:
-	@docker logs --tail 50 ros-melodic-navigation-gpu
+#: Shows the logs of the ros-home service container
+noetic.logs:
+	@docker logs --tail 50 ros-home
 
-#: Fires up a bash session inside the ros-melodic service container
-melodic.shell:
-	@docker exec -it ros-melodic bash
-melodic.speech.shell:
-	@docker exec -it ros-melodic-speech bash
-melodic.speech.gpu.shell:
-	@docker exec -it ros-melodic-speech-gpu bash
-melodic.navigation.shell:
-	@docker exec -it ros-melodic-navigation bash
-melodic.navigation.gpu.shell:
-	@docker exec -it ros-melodic-navigation-gpu bash
+#: Fires up a bash session inside the ros-home service container
+noetic.shell:
+	@docker exec -it ros-home bash
 
-#: Remove ros-melodic container. 
-melodic.remove: melodic.down
-	@docker container rm ros-melodic
-melodic.speech.remove: melodic.speech.down
-	@docker container rm ros-melodic-speech
-melodic.speech.gpu.remove: melodic.speech.gpu.down
-	@docker container rm ros-melodic-speech-gpu
-melodic.navigation.remove: melodic.navigation.down
-	@docker container rm ros-melodic-navigation
-melodic.navigation.gpu.remove: melodic.navigation.gpu.down
-	@docker container rm ros-melodic-navigation-gpu
+#: Remove ros-home container. 
+noetic.remove: noetic.down
+	@docker container rm ros-home
 
 # ----------------------------------------------------------------------
 #  General Docker

README.md

@@ -1,4 +1,4 @@
-<img src="roborregos_logo.png" width="400" ><img> 
+<img src="readme_resources/roborregos_logo.png" width="400" ><img> 
 
 # RoBorregos Robocup-Home
 This repository contains the development of RoBorregos' robotic solution for [RoboCup's @HOME competition](https://athome.robocup.org/), Open Platform League (OPL), where the robot must be capable of interacting with people, manipulate objects and have intelligent responses for everyday home tasks.
@@ -8,15 +8,15 @@ See [RoboCup @HOME Rules](https://robocupathome.github.io/RuleBook/rulebook/mast
 ## Project details
 
 This project is made using:
-- [ROS Melodic](https://www.ros.org/)
+- [ROS Noetic](https://www.ros.org/)
 - [Rasa NLU](https://rasa.com/)
 - [Tensorflow](https://www.tensorflow.org/learn)
 - [PaddlePaddle](https://github.com/paddlepaddle/paddle)
 - [Arduino](https://www.arduino.cc/)
 - [VIA EPIA](https://www.viatech.com/en/support/eol/epia-eol/)
 - [Jetson](https://developer.nvidia.com/EMBEDDED/jetson-nano-developer-kit)
 
-<img src="SystemDesignv3_gray.png" width="1500" ><img> 
+<img src="readme_resources/SystemDesignv3_gray.png" width="1500" ><img> 
 
 For more information about the project system, structure, and development areas you can check our [Official Documentation](https://github.com/RoBorregos/Robocup-Home/wiki).
 

catkin_home/run/setup_devices.bash

@@ -0,0 +1,9 @@
+#!/bin/bash
+## **This are the IPs & Hostnames used for setup during TMR2021.
+source ./devel/setup.bash
+ROS_IP=192.168.31.187
+export ROS_IP
+ROS_HOSTNAME="rbrgs"
+export ROS_HOSTNAME
+ROS_MASTER_URI=http://rbrgs:11311
+export ROS_MASTER_URI

catkin_home/setup_ros_on_multiple_machines.bash → catkin_home/run/setup_ros_on_multiple_machines.bash

@@ -38,5 +38,6 @@ then
         export ROS_MASTER_URI
     fi
 fi
-
-echo "Done setting ROS_MASTER_URI=$ROS_MASTER_URI and ROS_IP=$ROS_IP"
+ROS_HOSTNAME=$ROS_IP
+export ROS_HOSTNAME
+echo "Done setting ROS_MASTER_URI=$ROS_MASTER_URI, ROS_IP=$ROS_IP and ROS_HOSTNAME=$ROS_HOSTNAME"

catkin_home/run/setup_voice.bash

@@ -0,0 +1,9 @@
+#!/bin/bash
+## **This are the IPs & Hostnames used for setup during TMR2021.
+source ./devel/setup.bash
+ROS_IP=192.168.31.116
+export ROS_IP
+ROS_MASTER_URI=http://jose-Inspiron:11311
+export ROS_MASTER_URI
+ROS_HOSTNAME="jose-Inspiron"
+export ROS_HOSTNAME

catkin_home/src/CMakeLists.txt

@@ -1 +1 @@
-/opt/ros/melodic/share/catkin/cmake/toplevel.cmake
+/opt/ros/noetic/share/catkin/cmake/toplevel.cmake

catkin_home/src/action_selectors/launch/conversation_speech.launch

@@ -0,0 +1,27 @@
+<launch>
+    <!-- Devices -->
+    <!-- <node name="AudioCapturer" pkg="devices" type="AudioCapturer.py" respawn="true" output="screen"/>
+    <node name="UsefulAudio" pkg="devices" type="UsefulAudio.py" respawn="true" output="screen"/>
+    <node name="ImageCapturer" pkg="devices" type="ImageCapture.py" respawn="true">
+        <param name="RATE" value="15" />
+        <param name="CAMERAID" value="2" />
+    </node>
+    <node name="say" pkg="devices" type="say.py" respawn="true" output="screen" /> -->
+    <!-- Speech To Text -->
+    <!-- FORCE_ENGINE: 'online' - Azure, 'offline' - DeepSpeech, 'none' - Both Engines [it depends on internet] -->
+    <arg name="FORCE_ENGINE" default="online"/>
+    <node name="hear" pkg="action_selectors" type="hear.py" respawn="true" output="screen">
+        <param name="FORCE_ENGINE" value="$(arg FORCE_ENGINE)" />
+    </node>
+    <node name="azureSpeechText" pkg="action_selectors" type="AzureSpeechToText" output="screen" if="$(eval arg('FORCE_ENGINE') != 'offline')"/>
+    <node name="DeepSpeech" pkg="action_selectors" type="DeepSpeech.py" output="screen" if="$(eval arg('FORCE_ENGINE') != 'online')"/>
+    <!-- Conversation -->
+    <!-- START_TALK: 'True' - Start Conversation, 'False' - Wait until being Spoken -->
+    <arg name="START_TALK" default="True"/>
+    <node name="SomeoneToTalk" pkg="action_selectors" type="SomeoneToTalk.py" respawn="true">
+        <param name="CAMERAID" value="1" />
+    </node>
+    <node name="parser" pkg="action_selectors" type="parser.py" respawn="true" output="screen">
+        <param name="START_TALK" value="$(arg START_TALK)" />
+    </node>
+</launch>

catkin_home/src/action_selectors/launch/integration.launch

@@ -0,0 +1,4 @@
+<launch>
+    <node name="Tmr2021Main" pkg="main_engine" type="Tmr2021Main.py" output="screen" />
+    <node name="NavBridgeServer" pkg="nav_bridge" type="NavBridgeServer.py" output="screen" />
+</launch>

catkin_home/src/action_selectors/package.xml

@@ -57,7 +57,8 @@
   <build_depend>std_msgs</build_depend>
   <build_depend>audio_common_msgs</build_depend>
   <build_depend> intercom </build_depend>
-  <build_depend> python-requests </build_depend>
+  <!-- Before it was python-requests. I hope it works. This comment will be deleted once it is verified. -->
+  <build_depend> python3-requests </build_depend>
   <build_depend>roslib</build_depend>
   <build_export_depend>roscpp</build_export_depend>
   <build_export_depend>rospy</build_export_depend>
@@ -69,7 +70,8 @@
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>audio_common_msgs</exec_depend>
   <exec_depend> intercom </exec_depend>
-  <exec_depend>python-requests</exec_depend>
+  <!-- Before it was python-requests. I hope it works. This comment will be deleted once it is verified. -->
+  <exec_depend>python3-requests</exec_depend>
   <exec_depend>roslib</exec_depend>
 
 

catkin_home/src/action_selectors/scripts/DeepSpeech.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 '''
 This script creates the node `DeepSpeech` that taking voice audio from topic
 `UsefulAudioDeepSpeech`, does speech-to-text and publishes the resulting text.