15 storing groceries task manager

.gitignore

@@ -2,3 +2,4 @@ build
 devel
 terminator-config
 .catkin_workspace
+__pycache__

docker/scripts/run.bash

@@ -95,6 +95,7 @@ echo "Building docker image: $IMAGE_NAME"
 echo "Container name: $CONTAINER_NAME"
 echo "Volumes to mount: $VOLUME_COMMANDS"
 
+#DOCKER_SPEECH_ARGS="-v /tmp/pulseaudio.socket:/tmp/pulseaudio.socket -v /tmp/pulseaudio.client.conf:/etc/pulse/client.conf --device /dev/snd:/dev/snd"
 DOCKER_COMMAND="docker run"
 
 xhost +

docker/scripts/speech.bash

@@ -0,0 +1,18 @@
+# Create pulse audio socket to share with docker container
+
+# Ref: https://github.com/mviereck/x11docker/wiki/Container-sound:-ALSA-or-Pulseaudio
+
+# Remove files if they exist
+sudo rm -rf /tmp/pulseaudio.socket
+sudo rm -rf /tmp/pulseaudio.client.conf
+
+# Create pulseaudio socket.
+pactl load-module module-native-protocol-unix socket=/tmp/pulseaudio.socket
+
+# Create pulseaudio clients config.
+echo 'default-server = unix:/tmp/pulseaudio.socket
+# Prevent a server running in the container
+autospawn = yes
+daemon-binary = /bin/true
+# Prevent the use of shared memory
+enable-shm = false' > /tmp/pulseaudio.client.conf

ws/src/frida_hri_interfaces/CMakeLists.txt

@@ -0,0 +1,44 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(frida_hri_interfaces)
+
+find_package(catkin REQUIRED COMPONENTS
+  actionlib_msgs
+  message_generation
+  rospy
+  actionlib
+  std_msgs
+  std_srvs
+)
+
+add_message_files(
+  FILES
+  Command.msg
+  CommandList.msg
+)
+
+## Generate services in the 'srv' folder
+add_service_files(
+  FILES
+  Speak.srv
+)
+
+## Generate actions in the 'action' folder
+add_action_files(
+  FILES
+  Conversate.action
+)
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  std_msgs actionlib_msgs
+)
+
+catkin_package(
+ CATKIN_DEPENDS actionlib_msgs message_runtime rospy std_msgs actionlib
+)
+
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)

ws/src/frida_hri_interfaces/action/Conversate.action

@@ -0,0 +1,9 @@
+#goal definition
+string request
+int32 wait
+---
+#result definition
+int32 success
+---
+#feedback
+string execution_state

ws/src/frida_hri_interfaces/msg/Command.msg

@@ -0,0 +1,3 @@
+string action
+string characteristic
+string complement

ws/src/frida_hri_interfaces/msg/CommandList.msg

@@ -0,0 +1 @@
+frida_hri_interfaces/Command[] commands

ws/src/frida_hri_interfaces/package.xml

@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>frida_hri_interfaces</name>
+  <version>0.0.0</version>
+  <description>The frida_integration_msgs package</description>
+
+  <maintainer email="[email protected]">ros</maintainer>
+
+  <license>TODO</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>actionlib</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>actionlib_msgs</build_depend>
+  <build_export_depend>actionlib</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>message_generation</build_export_depend>
+  <build_export_depend>actionlib_msgs</build_export_depend>
+  <exec_depend>actionlib</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>actionlib_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

ws/src/frida_hri_interfaces/srv/Speak.srv

@@ -0,0 +1,3 @@
+string text
+---
+bool success

ws/src/frida_manipulation_interfaces/CMakeLists.txt

@@ -0,0 +1,69 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(frida_manipulation_interfaces)
+
+find_package(catkin REQUIRED COMPONENTS
+  dynamic_reconfigure
+  actionlib
+  actionlib_msgs
+  geometry_msgs
+  roscpp
+  roslib
+  rospy
+  std_msgs
+  std_srvs
+  message_generation
+)
+
+# add_service_files(
+#   FILES
+#   EnableOctomap.srv
+# )
+
+# add_message_files(
+#   FILES
+#   img.msg
+#   img_list.msg
+#   move.msg
+# )
+
+add_action_files(
+  FILES
+  manipulationPickAndPlace.action
+)
+
+generate_messages(
+  DEPENDENCIES
+  actionlib_msgs
+  std_msgs
+)
+
+catkin_package(
+  LIBRARIES
+  INCLUDE_DIRS
+  CATKIN_DEPENDS
+    roscpp
+    roslib
+    message_runtime
+)
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-error=shadow")
+
+# install(PROGRAMS
+#         scripts/pick_and_place_server.py
+#         DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+install(DIRECTORY launch
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+#add_executable(test_c scripts/test_c.cpp)
+#target_link_libraries(test_c ${catkin_LIBRARIES})
+#add_dependencies(test_c ${catkin_EXPORTED_TARGETS})
+
+#add_executable(test_place scripts/test_place.cpp)
+#target_link_libraries(test_place ${catkin_LIBRARIES})
+#add_dependencies(test_place ${catkin_EXPORTED_TARGETS})

ws/src/frida_manipulation_interfaces/action/manipulationPickAndPlace.action

@@ -0,0 +1,8 @@
+#goal definition
+int32 object_id
+---
+#result definition
+bool result
+---
+#feedback
+string status

ws/src/frida_manipulation_interfaces/package.xml

@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>frida_manipulation_interfaces</name>
+  <version>0.0.0</version>
+  <description>The frida_manipulation_interfaces package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">RoBorregos</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/frida_manipulation_interfaces</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>dynamic_reconfigure</build_depend>
+  <build_depend>actionlib</build_depend>
+  <build_depend>actionlib_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>roslib</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>std_srvs</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+
+  <exec_depend>dynamic_reconfigure</exec_depend>
+  <exec_depend>actionlib</exec_depend>
+  <exec_depend>actionlib_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>roslib</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>std_srvs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>