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add sample launch code for database_talker
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jsk_robot_common/jsk_robot_startup/launch/interaction.launch
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| <launch> | ||
| <!-- strelka --> | ||
| <arg name="google_chat_credentials_json" default="$(find jsk_robot_startup)/auth/tribal-quasar-343006-1025e6fc703f.json" /> | ||
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| <!-- common settings --> | ||
| <arg name="openai_credentials_json" default="$(find jsk_robot_startup)/auth/openai_credentials.json" /> | ||
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| <arg name="google_credentials_json" default="$(find jsk_robot_startup)/auth/eternal-byte-236613-4bc6962824d1.json" /> | ||
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| <arg name="chat_use_helper" default="true" doc="set false when your program respond to chat" /> | ||
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| <!-- Google Chat ROS --> | ||
| <include file="$(find google_chat_ros)/launch/google_chat.launch"> | ||
| <arg name="receiving_mode" value="pubsub" /> | ||
| <arg name="project_id" value="tribal-quasar-343006" /> | ||
| <arg name="subscription_id" value="chat-sub" /> | ||
| <arg name="respawn" value="true" /> | ||
| <arg name="google_cloud_credentials_json" value="$(arg google_chat_credentials_json)"/> | ||
| <arg name="to_dialogflow_client" value="false" /> | ||
| <arg name="use_helper" value="$(arg chat_use_helper)" /> | ||
| </include> | ||
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| <!-- Dialogflow Client ROS --> | ||
| <include file="$(find dialogflow_task_executive)/launch/dialogflow_ros.launch"> | ||
| <arg name="credential" value="$(arg google_credentials_json)" /> | ||
| <arg name="project_id" value="collaborative-remembering-kwit" /> | ||
| <arg name="enable_hotword" value="false" /> | ||
| </include> | ||
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| <!-- Google Cloud Language --> | ||
| <include file="$(find ros_google_cloud_language)/launch/analyze_text.launch"> | ||
| <arg name="google_cloud_credentials_json" value="$(arg google_credentials_json)" /> | ||
| </include> | ||
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| <!-- gdrive_ros --> | ||
| <include file="$(find gdrive_ros)/launch/gdrive_server.launch"> | ||
| <arg name="settings_yaml" value="$(find jsk_robot_startup)/auth/pydrive_settings.yaml" /> | ||
| <arg name="respawn" value="true" /> | ||
| <arg name="node_name" value="gdrive_ros" /> | ||
| </include> | ||
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| <!-- openai_ros --> | ||
| <group ns="openai"> | ||
| <node pkg="openai_ros" type="openai_node.py" name="openai" output="screen"> | ||
| <rosparam command="load" file="$(arg openai_credentials_json)" /> | ||
| </node> | ||
| </group> | ||
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| </launch> |
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jsk_robot_common/jsk_robot_startup/launch/lifelog.launch
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| <launch> | ||
| <arg name="use_mail" default="false" /> | ||
| <arg name="min_percent" default="5" doc="parameter for video_to_scene"/> | ||
| <arg name="max_percent" default="15" doc="parameter for video_to_scene"/> | ||
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| <arg name="logger_save_rgb" default="false" /> | ||
| <arg name="logger_save_depth" default="false" /> | ||
| <arg name="logger_save_tf" default="false" /> | ||
| <arg name="logger_save_joint_states" default="false" /> | ||
| <arg name="logger_save_base_trajectory" default="false" /> | ||
| <arg name="logger_save_object_detection" default="false" /> | ||
| <arg name="logger_save_action" default="false" /> | ||
| <arg name="logger_save_smach" default="false" /> | ||
| <arg name="logger_save_faces" default="false" /> | ||
| <arg name="logger_save_dialogflow" default="false" /> | ||
| <arg name="logger_save_app" default="false" /> | ||
| <arg name="logger_map_frame" default="odom" /> | ||
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| <arg name="image" default="usb_cam/image_raw" /> | ||
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| <param name="robot/database" value="jsk_robot_lifelog"/> | ||
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| <!-- logging database --> | ||
| <param name="mongodb_replicate_on_write" value="true" /> <!-- need to set True to query from extra serveres, otherwise it only query from local server --> | ||
| <include file="$(find jsk_robot_startup)/lifelog/mongodb.launch"> | ||
| <arg name="use_daemon" value="true"/> | ||
| <arg name="port" value="27017" /> | ||
| <arg name="repl_set_mode" value="false" /> | ||
| <arg name="replicate" default="true" /> | ||
| </include> | ||
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| <group if="$(arg use_mail)" > | ||
| <node pkg="jsk_robot_startup" type="email_topic.py" name="email_topic" output="screen" /> | ||
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| <node name="smach_to_mail" pkg="jsk_robot_startup" type="smach_to_mail.py" output="screen"> | ||
| <remap from="~smach/container_status" to="/server_name/smach/container_status" /> | ||
| <param name="sender_address" command='python -c "import rospy;print(rospy.get_param(\"robot/name\")+\"@jsk.imi.i.u-tokyo.ac.jp\")"' /> | ||
| <param name="receiver_address" command='python -c "import rospy;print(rospy.get_param(\"robot/type\")+\"@jsk.imi.i.u-tokyo.ac.jp\")"' /> | ||
| </node> | ||
| </group> | ||
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| <include file="$(find jsk_robot_startup)/lifelog/common_logger.launch"> | ||
| <arg name="save_rgb" value="$(arg logger_save_rgb)" /> | ||
| <arg name="save_depth" value="$(arg logger_save_depth)" /> | ||
| <arg name="save_tf" value="$(arg logger_save_tf)" /> | ||
| <arg name="save_joint_states" value="$(arg logger_save_joint_states)" /> | ||
| <arg name="save_base_trajectory" value="$(arg logger_save_base_trajectory)" /> | ||
| <arg name="save_object_detection" value="$(arg logger_save_object_detection)" /> | ||
| <arg name="save_action" value="$(arg logger_save_action)" /> | ||
| <arg name="save_smach" value="$(arg logger_save_smach)" /> | ||
| <arg name="save_faces" value="$(arg logger_save_faces)" /> | ||
| <arg name="save_dialogflow" value="$(arg logger_save_dialogflow)" /> | ||
| <arg name="save_app" value="$(arg logger_save_app)" /> | ||
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| <arg name="enable_monitor" value="false" /> | ||
| <arg name="log_rate" value="1.0" /> | ||
| <arg name="launch_manager" value="true" /> | ||
| <arg name="manager" value="mongodb_record_nodelet_manager" /> | ||
| <arg name="map_frame_id" value="$(arg logger_map_frame)" /> | ||
| <arg name="approximate_sync" value="true"/> | ||
| </include> | ||
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| <!-- outputs $(arg image)/output/compressed when new scene found --> | ||
| <include file="$(find jsk_perception)/launch/video_to_scene.launch" > | ||
| <arg name="INPUT_IMAGE" value="$(arg image)" /> | ||
| <arg name="IMAGE_TRANSPORT" default="compressed" /> | ||
| <arg name="launch_manager" value="true" /> | ||
| <arg name="manager" value="vidoe_to_scene_nodelet_manager" /> | ||
| <arg name="min_percent" value="$(arg min_percent)" /> | ||
| <arg name="max_percent" value="$(arg max_percent)" /> | ||
| </include> | ||
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| <!-- publish /publish_trigger_mongodb_event when video_to_scene, */class or dialogflow are detected --> | ||
| <node pkg="topic_tools" type="transform" name="publish_trigger_mongodb_video_to_scene" | ||
| args="--wait-for-start $(arg image)/output/compressed /publish_trigger_mongodb_event std_msgs/Header | ||
| 'std_msgs.msg.Header(stamp=m.header.stamp, frame_id=m._connection_header["callerid"])' --import std_msgs" /> | ||
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| <node pkg="topic_tools" type="transform" name="publish_trigger_mongodb_event_aws_auto_checkin" | ||
| args="--wait-for-start /aws_auto_checkin_app/output/class /publish_trigger_mongodb_event std_msgs/Header | ||
| 'std_msgs.msg.Header(stamp=m.header.stamp, frame_id=m._connection_header["callerid"])' --import std_msgs" /> | ||
| <node pkg="topic_tools" type="transform" name="publish_trigger_mongodb_event_aws_detect_faces" | ||
| args="--wait-for-start /aws_detect_faces/attributes /publish_trigger_mongodb_event std_msgs/Header | ||
| 'std_msgs.msg.Header(stamp=m.header.stamp, frame_id=m._connection_header["callerid"])' --import std_msgs" /> | ||
| <node pkg="topic_tools" type="transform" name="publish_trigger_mongodb_event_dialogflow_client" | ||
| args="--wait-for-start /dialogflow_client/text_action/result /publish_trigger_mongodb_event std_msgs/Header | ||
| 'std_msgs.msg.Header(stamp=m.header.stamp, frame_id=m._connection_header["callerid"])' --import std_msgs" /> | ||
| <node pkg="topic_tools" type="transform" name="publish_trigger_mongodb_event_google_chat_ros_send_goal" | ||
| args="--wait-for-start /google_chat_ros/send/goal /publish_trigger_mongodb_event std_msgs/Header | ||
| 'std_msgs.msg.Header(stamp=m.header.stamp, frame_id=m._connection_header["callerid"])' --import std_msgs" /> | ||
| <node pkg="topic_tools" type="transform" name="publish_trigger_mongodb_event_google_chat_ros_message_activity" | ||
| args="--wait-for-start /google_chat_ros/message_activity /publish_trigger_mongodb_event std_msgs/Header | ||
| 'std_msgs.msg.Header(stamp=rospy.Time.now(), frame_id=m._connection_header["callerid"])' --import std_msgs rospy" /> | ||
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| <!-- republish compressed/throttled image data only when /publish_trigger_mongodb_event is published --> | ||
| <node name="camera_throttle_nodelet" | ||
| pkg="nodelet" type="nodelet" | ||
| args="load jsk_topic_tools/SynchronizedThrottle mongodb_record_nodelet_manager" > | ||
| <rosparam subst_value="true"> | ||
| approximate_sync: true | ||
| topics: | ||
| - /publish_trigger_mongodb_event | ||
| - $(arg image)/compressed | ||
| </rosparam> | ||
| </node> | ||
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| <!-- store thottled image --> | ||
| <group ns="lifelog"> | ||
| <include file="$(find jsk_robot_startup)/lifelog/lifelog_rgb_image.launch" > | ||
| <arg name="node_name" value="hand_color_logger" /> | ||
| <arg name="image" value="$(arg image)/compressed/throttled" /> | ||
| <arg name="manager" value="mongodb_record_nodelet_manager" /> | ||
| </include> | ||
| </group> | ||
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| <!-- save classification data --> | ||
| <!-- sample code for object detection | ||
| <node name="classification_logger" | ||
| pkg="jsk_robot_startup" type="mongo_record.py" > | ||
| <rosparam subst_value="true"> | ||
| topics: | ||
| - /spot/ncb_provider/hand_color_image/class | ||
| </rosparam> | ||
| </node> | ||
| --> | ||
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| <!-- save bbox data --> | ||
| <!-- sample code for object detection | ||
| <node name="bbox_logger" | ||
| pkg="jsk_robot_startup" type="mongo_record.py" > | ||
| <rosparam subst_value="true"> | ||
| topics: | ||
| - /spot/ncb_provider/bbox_array | ||
| </rosparam> | ||
| </node> | ||
| --> | ||
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| </launch> |