[Do Not Merge] Develop Branch for Spot

.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,7 @@
+# 注意点
+
+- 基本的に Pull Request のマージは Pull Request を出した人本人が行ってください。
+- 壊すかもと思わず、壊れたらRevertすればいいやくらいの気持ちでマージしてください。
+- 最悪 sktometometo がどうにかします。
+- マージ前にレビューを依頼するかどうかは各位に任せます。わからなければ @sktometometo にレビューを依頼してください。
+- マージ権限がなければ @sktometometo に権限を依頼してください。

3rdparty/voice_text/CMakeLists.txt

@@ -28,32 +28,51 @@ else()
   if("${CMAKE_SIZEOF_VOID_P}" STREQUAL "4")
     set(VT_LIB_PATH_OLD ${VT_ROOT}/bin/x86_32/RAMIO/libvt_jpn.so)  # e.g., /usr/vt/sayaka/M16/bin/x86_32/RAMIO/libvt_jpn.so
     set(VT_LIB_PATH_NEW ${VT_ROOT}/bin/LINUX32_GLIBC3/RAMIO/libvt_jpn.so)  # e.g., /usr/vt/risa/H16/bin/LINUX32_GLIBC3/RAMIO/libvt_jpn.so
+    set(VT_LIB_PATH_FILEIO ${VT_ROOT}/bin/FILEIO/LINUX32_GLIBC3/libvt_jpn.so)  # e.g., /usr/vt/hikari/D16/bin/FILEIO/LINUX32_GLIBC3/libvt_jpn.so
   elseif("${CMAKE_SIZEOF_VOID_P}" STREQUAL "8")
     set(VT_LIB_PATH_OLD ${VT_ROOT}/bin/x86_64/RAMIO/libvt_jpn.so)  # e.g., /usr/vt/sayaka/M16/bin/x86_64/RAMIO/libvt_jpn.so
     set(VT_LIB_PATH_NEW ${VT_ROOT}/bin/LINUX64_GLIBC3/RAMIO/libvt_jpn.so)  # e.g., /usr/vt/risa/H16/bin/LINUX64_GLIBC3/RAMIO/libvt_jpn.so
+    set(VT_LIB_PATH_FILEIO ${VT_ROOT}/bin/FILEIO/LINUX64_GLIBC3/libvt_jpn.so)  # e.g., /usr/vt/hikari/D16/bin/FILEIO/LINUX64_GLIBC3/libvt_jpn.so
   endif()
   if(EXISTS ${VT_LIB_PATH_OLD})
     set(VT_LIB_PATH ${VT_LIB_PATH_OLD})
-  else()
-    if(EXISTS ${VT_LIB_PATH_NEW})
-      set(VT_LIB_PATH ${VT_LIB_PATH_NEW})
-    endif()
+  elseif(EXISTS ${VT_LIB_PATH_NEW})
+    set(VT_LIB_PATH ${VT_LIB_PATH_NEW})
+  elseif(EXISTS ${VT_LIB_PATH_FILEIO})
+    set(VT_LIB_PATH ${VT_LIB_PATH_FILEIO})
   endif()
   if(VT_LIB_PATH)
-    message(WARNING "VoiceText library is found at ${VT_LIB_PATH}")
+    message(WARNING "VoiceText Engine library is found at ${VT_LIB_PATH}")
   else()
-    message(WARNING "VoiceText library is not found at ${VT_LIB_PATH_OLD} or ${VT_LIB_PATH_NEW}")
+    message(WARNING "VoiceText Engine library is not found at ${VT_LIB_PATH_OLD} or ${VT_LIB_PATH_NEW} or ${VT_LIB_PATH_FILE}")
   endif()
 endif()
+
+# use traditional sdk or new api
+set(VT_SDK_H ${VT_ROOT}/inc/vt_jpn.h)
+set(VT_API_H ${VT_ROOT}/inc/vtapi.h)
+if(EXISTS ${VT_SDK_H})
+  # use traditional sdk
+  message(WARNING "Using SDK because ${VT_SDK_H} was found.")
+  set(VT_INCLUDE ${VT_SDK_H})
+elseif(EXISTS ${VT_API_H})
+  # use new api
+  message(WARNING "Using API because ${VT_SDK_H} was not found but ${VT_API_H} was found.")
+  string(REPLACE "/" ";" _VT_ROOT_SPLIT ${VT_ROOT})
+  list(GET _VT_ROOT_SPLIT 3 VT_SPEAKER)
+  list(GET _VT_ROOT_SPLIT 4 VT_TYPE)
+  set(VT_API_LIB_PATH ${VT_ROOT}/bin/libvtapi.so)
+  set(VT_INCLUDE ${VT_API_H})
+endif()
 configure_file(src/voice_text.cpp.in ${PROJECT_SOURCE_DIR}/src/voice_text.cpp)
 
-  include_directories(
-    ${Boost_INCLUDE_DIRS}
-    ${catkin_INCLUDE_DIRS}
-  )
-  add_executable(voice_text src/voice_text.cpp)
-  add_dependencies(voice_text ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg)
-  set_target_properties(voice_text PROPERTIES COMPILE_FLAGS -D_REENTRANT)
+include_directories(
+  ${Boost_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+)
+add_executable(voice_text src/voice_text.cpp)
+add_dependencies(voice_text ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg)
+set_target_properties(voice_text PROPERTIES COMPILE_FLAGS -D_REENTRANT)
 
 if(NOT VT_LIB_PATH)
   message(WARNING "Building dummy library")
@@ -64,10 +83,11 @@ if(NOT VT_LIB_PATH)
   set(VT_LIB_PATH ${PROJECT_BINARY_DIR}/libvt_jpn.so)
 endif()
 
-  target_link_libraries(voice_text
+target_link_libraries(voice_text
     ${catkin_LIBRARIES}
     ${VT_LIB_PATH} -lm -lpthread
-  )
+    ${VT_API_LIB_PATH} -lm -lpthread -ldl
+)
 if(NOT EXISTS ${VT_LIB_PATH})
   add_dependencies(voice_text vt_dummy)
 endif()

3rdparty/voice_text/README.md

@@ -5,9 +5,23 @@ ROS Interface for HOYA VoiceText Speech Synthesis Engine
 
 ## Installation
 
-1. Install VoiceText SDK
-2. Put license file
-3. Build this package
+### 1. Install VoiceText SDK
+#### If you have voicetext sdk install binary, please follow the official guide and install both engine and SDK
+#### If you don't have the sdk install binary but have voice text API binary, please follow the guide below.
+1. Install VoiceText Engine by official guide
+2. Copy VoiceText API binaries to VoiceText binary directory
+  VoiceText API package includes binary libraries and header file. You have to copy those of them to specific directory by executing following commands.
+  ```bash
+  cd /path_to_api_package_directory # e.g. cd ~/Downloads/RS_VTAPI_SDK_Linux_4.3.0.2/20201113_VTAPI4.3.0.2_LINUX
+  cd bin/x64 # You have to cd x86 if your system is x86 architecture
+  # Assuming VoiceText engine's talker is hikari, type is D16. If it is different, please set appropriate directory.
+  sudo cp -a * /usr/vt/hikari/D16/bin # Don't forget to add -a not to break symbolic link. 
+  cd ../../include/
+  sudo mkdir /usr/vt/hikari/D16/inc # not include, but inc
+  sudo cp vtapi.h /usr/vt/hikari/D16/inc
+  ```
+### 2. Put license file
+### 3. Build this package
 
 ```bash
 cd /path/to/catkin_workspace

3rdparty/voice_text/src/voice_text.cpp.in

@@ -21,7 +21,7 @@
 #ifdef USE_DUMMY_INCLUDE
 #include "dummy/vt_dummy.h"
 #else
-#include "@VT_ROOT@/inc/vt_jpn.h"
+#include "@VT_INCLUDE@"
 #endif
 
 namespace fs = boost::filesystem;
@@ -43,7 +43,13 @@ public:
 
   ~VoiceText() {
     if (initialized_) {
+      #ifdef _VTAPI_H_
+      VTAPI_ReleaseHandle(this->hVTAPI);
+      VTAPI_UnloadEngine(this->hEngine);
+      VTAPI_Exit();
+      #else
       VT_UNLOADTTS_JPN(-1);
+      #endif
     }
   }
 
@@ -62,16 +68,34 @@ public:
       license_path_char = (char*)calloc(std::strlen(license_path_.c_str())+1, sizeof(char));
       std::strcpy(license_path_char, license_path_.c_str());
     }
+    #ifdef _VTAPI_H_
+    VTAPI_Init("@VT_ROOT@/bin"); // set voice_text binary library path because it loads them dynamically
+    this->hVTAPI = VTAPI_CreateHandle();
+    if (this->hVTAPI == 0) {
+      ROS_ERROR("VoiceText API ERROR when creating API handler. : %s\n", VTAPI_GetLastErrorInfo(0)->szMsg);
+      return false;
+    }
+    VTAPI_SetLicenseFolder(license_path_char);
+    // Load engine
+    this->hEngine = VTAPI_GetEngine("@VT_SPEAKER@", "@VT_TYPE@");
+    ret = VTAPI_SetEngineHandle(this->hVTAPI, this->hEngine);
+    if(ret < VTAPI_SUCCESS){
+      ROS_ERROR("VoiceText API ERROR when creating engine handler. CODE: %d, MESSAGE: %s \n", ret, VTAPI_GetLastErrorInfo(this->hVTAPI)->szMsg);
+      return false;
+    }
+    #else
     ret = VT_LOADTTS_JPN((int)NULL, -1, db_path_char, license_path_char);
-    free(db_path_char);
-    if (!license_path_.empty()) free(license_path_char);
     if (ret != VT_LOADTTS_SUCCESS) {
       ROS_FATAL("Failed to load TTS engine (code %d)", ret);
       if (ret == -1) {
         ROS_FATAL("You must install voice_text library before building this library");
       }
       return false;
     }
+    #endif
+
+    free(db_path_char);
+    if (!license_path_.empty()) free(license_path_char);
 
     // advertise service
     srv_ = nh_.advertiseService("text_to_speech", &VoiceText::text_to_speech, this);
@@ -101,6 +125,27 @@ public:
     char* wave_char = (char*)calloc(std::strlen(req.wave_path.c_str())+1, sizeof(char));
     std::strcpy(wave_char, req.wave_path.c_str());
 
+    #ifdef _VTAPI_H_
+    int ret;
+    // set attributes
+    VTAPI_SetAttr(this->hVTAPI, ATTR_PITCH, config_.pitch);
+    VTAPI_SetAttr(this->hVTAPI, ATTR_SPEED, config_.speed);
+    VTAPI_SetAttr(this->hVTAPI, ATTR_VOLUME, config_.volume);
+    VTAPI_SetAttr(this->hVTAPI, ATTR_PAUSE, config_.pause);
+    ret = VTAPI_SetOutputFile(this->hVTAPI, wave_char, FORMAT_16PCM_WAV);
+    if(ret != VTAPI_SUCCESS){
+      ROS_ERROR("VoiceText API ERROR when executing VTAPI_SetOutputFile. STATUS: %s\n", VTAPI_GetLastErrorInfo(this->hVTAPI)->szMsg);
+      res.ok = false;
+    }
+    // set input text file path
+    ret = VTAPI_TextToFile(this->hVTAPI, text_char, -1, TEXT_FORMAT_DEFAULT);
+    if(ret != VTAPI_SUCCESS){
+      ROS_ERROR("VoiceText API ERROR when executing VTAPI_TextToFile. STATUS: %s\n", VTAPI_GetLastErrorInfo(this->hVTAPI)->szMsg);
+      res.ok = false;
+    }
+    free(text_char);
+    free(wave_char);
+    #else
     int ret = VT_TextToFile_JPN(VT_FILE_API_FMT_S16PCM_WAVE,
                                 text_char,
                                 wave_char,
@@ -113,12 +158,12 @@ public:
 
     free(text_char);
     free(wave_char);
-
     if (ret != VT_FILE_API_SUCCESS) {
       ROS_ERROR("Failed to execute tts: (code: %d)", ret);
       res.ok = false;
       return true;
     }
+    #endif
 
     res.ok = true;
     return true;
@@ -131,6 +176,10 @@ public:
   ros::ServiceServer srv_;
   bool initialized_;
   std::string db_path_, license_path_;
+  #ifdef _VTAPI_H_
+  VTAPI_HANDLE hVTAPI;
+  VTAPI_ENGINE_HANDLE hEngine;
+  #endif
 };
 
 int main(int argc, char** argv) {

dialogflow_task_executive/CMakeLists.txt

@@ -2,13 +2,15 @@ cmake_minimum_required(VERSION 2.8.3)
 project(dialogflow_task_executive)
 
 find_package(catkin REQUIRED COMPONENTS
+    catkin_virtualenv
     message_generation
     std_msgs
 )
 
 add_message_files(
   FILES
   DialogResponse.msg
+  ConversationText.msg
 )
 
 generate_messages(
@@ -20,10 +22,17 @@ catkin_package(
   CATKIN_DEPENDS message_runtime
 )
 
+catkin_generate_virtualenv(
+  PYTHON_VERSION 3
+)
 
-install(DIRECTORY node_scripts 
+catkin_install_python(
+  PROGRAMS node_scripts/webhook_server.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(FILES node_scripts/dialogflow_client.py node_scripts/task_executive.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-  USE_SOURCE_PERMISSIONS
 )
 
 install(DIRECTORY launch

dialogflow_task_executive/README.md

@@ -91,6 +91,14 @@ Your robot will execute the task from dialogflow.
 
 ![](./img/pr2_demo.gif)
 
+### Use text prompt
+
+Run text prompt script for text interface demo.
+
+```bash
+rosrun dialogflow_task_executive text_chat_prompt.py
+```
+
 ## Upstart example
 
 Edit a config file below and save it as `/etc/init/jsk-dialog.conf`
@@ -123,12 +131,81 @@ script
 end script
 ```
 
+
+## Enable Dialogflow webhook service(optional)
+
+You can recieve the Dialogflow webhook response by `webhook_server.py`.
+To use the node, you have to open the port and establish the SSL connection. If you've already opened 443 port but used by another process, you have to use haproxy.
+
+### 1.Get SSL certificate
+
+I recommend to use certbot. Please read the [official guide](https://certbot.eff.org/lets-encrypt/ubuntubionic-other).
+
+### 2.(optional) Enable haproxy and establish forward proxy
+
+If another processes use 443 port, you may use haproxy like [DigitalOceanGuide](https://www.digitalocean.com/community/tutorials/how-to-secure-haproxy-with-let-s-encrypt-on-ubuntu-14-04).
+
+1. Install haproxy
+
+```bash
+sudo apt-get update
+sudo apt-get install haproxy
+```
+
+2. Stop the haproxy service
+
+```bash
+sudo systemctl stop haproxy.service
+```
+
+3. Copy your pem file to haproxy directory and secure access
+
+```bash
+sudo mkdir -p /etc/haproxy/certs
+DOMAIN='dialogflow.yourdomain.com' sudo -E bash -c 'cat /etc/letsencrypt/live/$DOMAIN/fullchain.pem /etc/letsencrypt/live/$DOMAIN/privkey.pem > /etc/haproxy/certs/$DOMAIN.pem'
+sudo chmod -R go-rwx /etc/haproxy/certs
+```
+
+4. Write your `haproxy.cfg` file like [this](https://gist.github.com/mqcmd196/be29f2136b62a7d74d6c3f6c7673b114) and save at `/etc/haproxy/`
+
+5. Run the haproxy service
+
+```bash
+sudo systemctl start haproxy.service
+```
+
+### 3.setup dialogflow_task_exective webhook_server
+
+Your server's host name, port, certfile and keyfile should be passed to the node. The example `dialogflow_task_executive/config/webhook.json`, is as follows:
+
+```json
+{
+  "host": "dialogflow.yourdomain.com",
+  "port": 8090
+  "certfile": "/path/to/your/server.crt"
+  "keyfile": "/path/to/your/server.key"
+}
+```
+
+It is true that `certfile` and `keyfile` are at `/etc/letsencrypt/live/$DOMAIN/`, however non-root users are not permitted to read the file. To avoid it, you exec
+```bash
+DOMAIN='dialogflow.yourdomain.com' sudo -E bash -c 'cat /etc/letsencrypt/live/$DOMAIN/fullchain.pem > /path/to/your/server.pem'
+DOMAIN='dialogflow.yourdomain.com' sudo -E bash -c 'cat /etc/letsencrypt/live/$DOMAIN/privkey.pem > /path/to/your/server.key'
+```
+To secure the file, you exec
+```bash
+sudo chmod go-rwx /path/to/your/server.crt
+sudo chmod go-rwx /path/to/your/server.key
+```
+
 ## Author
 
 Yuki Furuta <[email protected]>
 
 Shingo Kitagawa <[email protected]>
 
+Yoshiki Obinata <[email protected]>
+
 ## License
 
 BSD

dialogflow_task_executive/apps/app.installed

@@ -0,0 +1,3 @@
+apps:
+- app: dialogflow_task_executive/sample_app
+  display: sample dialogflow app

dialogflow_task_executive/apps/sample_app/sample_app.app

@@ -0,0 +1,4 @@
+display: sample dialogflow app
+platform: dummy
+launch: dialogflow_task_executive/sample_app.xml
+interface: dialogflow_task_executive/sample_app.interface

dialogflow_task_executive/apps/sample_app/sample_app.interface

@@ -0,0 +1,2 @@
+published_topics: {}
+subscribed_topics: {}

dialogflow_task_executive/apps/sample_app/sample_app.xml

@@ -0,0 +1,6 @@
+<launch>
+  <arg name="place" default="Tokyo"/>
+  <node name="sample_app_print" pkg="dialogflow_task_executive" type="sample_app_print.py" output="screen">
+      <param name="place" value="$(arg place)"/>
+  </node>
+</launch>

dialogflow_task_executive/config/dialogflow_hotword.yaml

@@ -0,0 +1,3 @@
+- ねえねえ
+- こんにちは
+- やあ