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Developments for TMR #41

Merged
merged 100 commits into from
Apr 26, 2024
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fd09613
Added speech args and setup script
Oscar-gg Apr 6, 2024
65c2763
Task manage package created
afr2903 Apr 7, 2024
14b1985
Task manager server base
afr2903 Apr 7, 2024
938f361
HRI tasks module
afr2903 Apr 7, 2024
0957544
feat: Added manipulation tasks script
afr2903 Apr 9, 2024
fb27a29
fix: Changed class name of hri tasks script
afr2903 Apr 9, 2024
1a2fb5d
feat: Added manipulation tasks object to task manager
afr2903 Apr 9, 2024
74cdc09
feat: Added speak feedback inside task manager
afr2903 Apr 9, 2024
1aba208
fix: Updated bash files without devices
afr2903 Apr 10, 2024
8a6e1a7
Task manager base (#10)
afr2903 Apr 10, 2024
79afe48
feat: Added frida_hri_msgs package
afr2903 Apr 10, 2024
2d4938c
refactor: Updated package of the HRI messages
afr2903 Apr 10, 2024
0ce56d5
style: Renamed package to interfaces
afr2903 Apr 10, 2024
f68bba9
style: Changed package name to interfaces
afr2903 Apr 10, 2024
cb2b086
Manipulation interface with pick and place action file
EmilianoHFlores Apr 10, 2024
e63b489
fix: wrong name in message
afr2903 Apr 10, 2024
14855a3
feat: Added Speak service instead of topic
afr2903 Apr 10, 2024
80847bd
HRI and Manipulation integration messages (#12)
afr2903 Apr 10, 2024
8a2749e
refactor: Adapted functionality for handling subtask managers in a mo…
afr2903 Apr 10, 2024
3328a89
refactor: Included new interfaces libraries in subtask managers
afr2903 Apr 10, 2024
e8dc561
style: Removed comments from build files
afr2903 Apr 11, 2024
137a082
refactor: Manipulation subtask manager updated for the pick and place
afr2903 Apr 11, 2024
d8860bc
perf: Removed unused imports from hri subtask manager
afr2903 Apr 11, 2024
740a72c
feat: Added nav subtask manager using move base commands
afr2903 Apr 11, 2024
8b90316
fix: Updated Dockerfile to include move_base_msgs
afr2903 Apr 11, 2024
08a10e6
Nav move base msgs (#17)
afr2903 Apr 11, 2024
ed85650
docs: Added task manager execution guide
afr2903 Apr 11, 2024
4c22026
GPSR first task manager (#18)
afr2903 Apr 11, 2024
99dc283
Added navigation interfaces
Chapa-1810 Apr 12, 2024
354f75c
Added nav interfaces (#21)
afr2903 Apr 12, 2024
8be9487
feat: Added new nav server to command manager
afr2903 Apr 12, 2024
1c6593d
refactor: Changed pick action server handler
afr2903 Apr 12, 2024
c7eb1ea
fix: Added validation to conversation server
afr2903 Apr 12, 2024
dc55738
style: Removed unused comments to nav interfaces
afr2903 Apr 12, 2024
1ba3870
Added option to send object name to manipulation server
EmilianoHFlores Apr 12, 2024
19e283b
style: Changed task_manager according to pylint
afr2903 Apr 13, 2024
8cd2873
Merge pull request #22 from RoBorregos/9-gpsr-task-manager
afr2903 Apr 13, 2024
e3b3b47
Base task manager (#23)
afr2903 Apr 13, 2024
418efee
Update manipulation interface (#24)
afr2903 Apr 13, 2024
5b1c0a4
feat: Serve brakfast task manager without nav
afr2903 Apr 13, 2024
c6f67d0
refactor: Changed action server handling manipulation
afr2903 Apr 13, 2024
7772201
Serve breakfast task without nav (#25)
afr2903 Apr 13, 2024
99ad70a
Vision interfaces, includes .action for getting bag pointed at.
EmilianoHFlores Apr 14, 2024
0ecaa39
feat: Added view angle srv from nav
afr2903 Apr 14, 2024
cd8e993
feat: Added arm joints server interfaces
afr2903 Apr 14, 2024
9ccfa85
feat: Added person tracking vision interfaces
afr2903 Apr 14, 2024
00d6d21
Integration messages for receptionist (#28)
afr2903 Apr 14, 2024
4b0e7f2
feat: Template for vision tasks
afr2903 Apr 14, 2024
47e899d
Template for task manager
afr2903 Apr 14, 2024
33510b5
feat: Added save name service vision
afr2903 Apr 14, 2024
4739b66
feat: Added move arm joints client
afr2903 Apr 14, 2024
b285d8d
feat: Face following with arm working
afr2903 Apr 14, 2024
ef420a0
feat: Added speak now topic
afr2903 Apr 14, 2024
4db4c0d
feat: Updated receptionist HRI interfaces
afr2903 Apr 14, 2024
44bf636
Updated receptionist HRI interfaces (#29)
afr2903 Apr 14, 2024
e09da1e
feat: Added image analysis features
afr2903 Apr 14, 2024
248d8f2
feat: Conventional task manager logic added
afr2903 Apr 14, 2024
1098cc2
fix: Wrong output definition
afr2903 Apr 14, 2024
0ccb8e2
feat: Added nav to receptionist tasks
afr2903 Apr 14, 2024
e9d0b8d
Merging changes receptionist to breakfast (#30)
afr2903 Apr 15, 2024
d60cf4a
fix: Reduced timeout for action servers init
afr2903 Apr 15, 2024
a874456
feat: Added navigation to Serve breakfast task
afr2903 Apr 15, 2024
82fd5a9
build: Added interfaces packages as submodule
afr2903 Apr 16, 2024
56551ba
build: Updated interfaces inside the submodule repo
afr2903 Apr 16, 2024
0d963dc
Interfaces submodule (#31)
afr2903 Apr 16, 2024
c4c1c4d
feat: Added predefined position call in arm joints server
afr2903 Apr 16, 2024
5f116df
feat: Added check person and find seat services
afr2903 Apr 16, 2024
2ee209f
refactor: Completed and corrected the logic for the whole task
afr2903 Apr 16, 2024
3e2c293
Interfaces (#32)
afr2903 Apr 16, 2024
e226c8a
fix: Updated call to find seat service
afr2903 Apr 16, 2024
c54b5fe
Tested task manager logic, functional task
afr2903 Apr 16, 2024
c6cb1d3
feat: Debug logs for receptionist
afr2903 Apr 17, 2024
052eaf7
Receptionist first functional iteration (#33)
afr2903 Apr 17, 2024
975d560
Receptionist updated submodules paths
afr2903 Apr 17, 2024
01ec4d0
Added validation for find seat wrong response
afr2903 Apr 17, 2024
3ce06ff
perf: Small time optimizations
afr2903 Apr 17, 2024
01b4257
Added audio common messages requirement
afr2903 Apr 17, 2024
f382ca5
Added count topics
afr2903 Apr 17, 2024
20360e6
refactor: Logic adaptation for delivering guest info
afr2903 Apr 19, 2024
73f43a4
test: Succesful, missing nav and time improving
afr2903 Apr 19, 2024
3ffe268
TMR day 1, functional receptionist without nav tests
afr2903 Apr 19, 2024
7ce531b
Merge branch '16-receptionist-task-manager' into develop
afr2903 Apr 19, 2024
f852236
Receptionist task manager branch fixed (#36)
afr2903 Apr 19, 2024
77db94c
added go action
afr2903 Apr 19, 2024
0d916b4
Added nav and manipulation timeout
afr2903 Apr 19, 2024
14a50e5
Breakfast round task manager
afr2903 Apr 19, 2024
cf72b94
fix: Updated speak function
afr2903 Apr 20, 2024
310a80a
feat: Nav servers validation
afr2903 Apr 20, 2024
3156187
feat: Unabstraction go command
afr2903 Apr 20, 2024
c2a580e
progress
afr2903 Apr 20, 2024
4808396
Merge pull request #37 from RoBorregos/35-gpsr-second-iteration
afr2903 Apr 20, 2024
38d4ea5
Merge pull request #38 from RoBorregos/16-receptionist-task-manager
afr2903 Apr 20, 2024
c7db4be
TMR GPSR advancement
afr2903 Apr 24, 2024
14a0b27
Task manager demo TMR
afr2903 Apr 24, 2024
bbf7202
error: Compose tests failing network
afr2903 Apr 25, 2024
9dafae6
Merge branch 'develop' into 14-serve-breakfast-task-manager
afr2903 Apr 25, 2024
8b40ca9
Breakfast task manager (#40)
afr2903 Apr 25, 2024
be42cbf
fix: Submodules target branch
afr2903 Apr 25, 2024
257b7dd
fix: Submodule hri
afr2903 Apr 25, 2024
9bb912a
Merge branch 'main' into develop
afr2903 Apr 25, 2024
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feat: Added person tracking vision interfaces
afr2903 committed Apr 14, 2024
commit 9ccfa855d77e1ddb45a7fe0532e4480bb9fba99c
179 changes: 11 additions & 168 deletions ws/src/frida_vision_interfaces/CMakeLists.txt
Original file line number Diff line number Diff line change
@@ -8,69 +8,26 @@ project(frida_vision_interfaces)
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
actionlib
actionlib_msgs
actionlib
geometry_msgs
shape_msgs
roscpp
roslib
rospy
std_msgs
std_srvs
tf
tf2
tf2_ros
tf2_geometry_msgs
sensor_msgs
message_generation
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
add_message_files(
FILES
Person.msg
PersonList.msg
)

## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
add_service_files(
FILES
NewHost.srv
)

# Generate actions in the 'action' folder
add_action_files(
@@ -86,39 +43,10 @@ generate_messages(
actionlib_msgs
)

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES frida_vision_interfaces
# CATKIN_DEPENDS other_catkin_pkg
CATKIN_DEPENDS geometry_msgs message_generation std_msgs
# DEPENDS system_lib
)

@@ -132,88 +60,3 @@ include_directories(
# include
# ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/frida_vision_interfaces.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/frida_vision_interfaces_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_frida_vision_interfaces.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
3 changes: 3 additions & 0 deletions ws/src/frida_vision_interfaces/msg/Person.msg
Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
string name
int64 x
int64 y
1 change: 1 addition & 0 deletions ws/src/frida_vision_interfaces/msg/PersonList.msg
Original file line number Diff line number Diff line change
@@ -0,0 +1 @@
frida_vision_interfaces/Person[] list
42 changes: 10 additions & 32 deletions ws/src/frida_vision_interfaces/package.xml
Original file line number Diff line number Diff line change
@@ -16,39 +16,17 @@
<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_vision_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="jane.doe@example.com">Jane Doe</author> -->


<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>message_generation</build_depend>
<build_depend>std_msgs</build_depend>
<build_export_depend>geometry_msgs</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>message_generation</build_export_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>message_runtime</exec_depend>


<!-- The export tag contains other, unspecified, tags -->
3 changes: 3 additions & 0 deletions ws/src/frida_vision_interfaces/srv/NewHost.srv
Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
string name
---
bool success