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[develop/fetch] [jsk_robot_startup] Record image topic to mongodb every time #1883

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merged 9 commits into from
Oct 26, 2023
Merged

[develop/fetch] [jsk_robot_startup] Record image topic to mongodb every time #1883

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1c32359
add sample launch code for database_talker
k-okada Apr 25, 2023
79e68b0
use override_project_id, to work with latest commit of https://github…
k-okada Apr 28, 2023
e456e1f
Adopt to fetch1075 default environment
May 31, 2023
dad4811
[jsk_robot_startup] Add override_project_id true
tkmtnt7000 Oct 25, 2023
005dcc5
[jsk_robot_startup] Add launch_common_logger arg to disable launching…
tkmtnt7000 Oct 25, 2023
dcd8c55
[jsk_robot_startup] save_speech and save_google_chat false
tkmtnt7000 Oct 25, 2023
f1923cc
[jsk_robot_startup] Comment out lifelog.launch
tkmtnt7000 Oct 25, 2023
f95c9e4
[jsk_fetch_startup] Launch lifelog.launch as default
tkmtnt7000 Oct 25, 2023
a45a312
[jsk_robot_startup][jsk_fetch_startup
tkmtnt7000 Oct 25, 2023
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6 changes: 6 additions & 0 deletions jsk_fetch_robot/jsk_fetch_startup/launch/fetch_lifelog.xml
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- sound_play/SoundRequestActionGoal
- sound_play/SoundRequestActionResult
</rosparam>

<include file="$(find jsk_robot_startup)/launch/lifelog.launch" >
<arg name="image" value="/head_camera/rgb/image_rect_color" />
<arg name="manager" value="mongodb_lifelog_nodelet_manager" />
</include>

</launch>
56 changes: 56 additions & 0 deletions 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" />
<arg name="project_id" default="tribal-quasar-343006" />

<!-- common settings -->
<arg name="openai_credentials_json" default="$(find jsk_robot_startup)/auth/openai_credentials.json" />

<arg name="google_credentials_json" default="$(find jsk_robot_startup)/auth/eternal-byte-236613-4bc6962824d1.json" />

<arg name="chat_use_helper" default="true" doc="set false when your program respond to chat" />

<arg name="launch_google_chat" default="true" />
<arg name="launch_gdrive_server" default="true" />

<!-- Google Chat ROS -->
<include file="$(find google_chat_ros)/launch/google_chat.launch" if="$(arg launch_google_chat)">
<arg name="receiving_mode" value="pubsub" />
<arg name="project_id" value="$(arg project_id)" />
<!-- <arg name="override_project_id" value="true" /> -->
<arg name="subscription_id" value="chat-sub" />
<arg name="respawn" value="true" />
<arg name="google_cloud_credentials_json" value="$(arg google_chat_credentials_json)"/>
<arg name="to_dialogflow_client" value="false" />
<arg name="use_helper" value="$(arg chat_use_helper)" />
</include>

<!-- Dialogflow Client ROS -->
<include file="$(find dialogflow_task_executive)/launch/dialogflow_ros.launch">
<arg name="override_project_id" value="true" />
<arg name="credential" value="$(arg google_credentials_json)" />
<arg name="project_id" value="collaborative-remembering-kwit" />
<arg name="enable_hotword" value="false" />
</include>

<!-- 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>

<!-- gdrive_ros -->
<include file="$(find gdrive_ros)/launch/gdrive_server.launch" if="$(arg launch_gdrive_server)">
<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>

<!-- 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>


</launch>
147 changes: 147 additions & 0 deletions 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"/>

<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" />
<arg name="logger_save_speech" default="false" />
<arg name="logger_save_google_chat" default="false" />

<arg name="image" default="usb_cam/image_raw" />

<arg name="launch_mongodb" default="false" />
<arg name="launch_common_logger" default="false" />

<arg name="manager" default="mongodb_record_nodelet_manager" />

<param name="robot/database" value="jsk_robot_lifelog"/>


<!-- 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="$(find jsk_robot_startup)/lifelog/mongodb.launch" if="$(arg launch_mongodb)">
<arg name="use_daemon" value="true"/>
<arg name="port" value="27017" />
<arg name="repl_set_mode" value="false" />
<arg name="replicate" default="true" />
</include>

<group if="$(arg use_mail)" >
<node pkg="jsk_robot_startup" type="email_topic.py" name="email_topic" output="screen" />

<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>

<include file="$(find jsk_robot_startup)/lifelog/common_logger.launch" if="$(arg launch_common_logger)">
<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="$(arg logger_save_app)" />
<arg name="save_speech" value="$(arg logger_save_speech)" />
<arg name="save_google_chat" value="$(arg logger_save_google_chat)" />

<arg name="enable_monitor" value="false" />
<arg name="log_rate" value="1.0" />
<arg name="launch_manager" value="true" />
<arg name="manager" value="$(arg manager)" />
<arg name="map_frame_id" value="$(arg logger_map_frame)" />
<arg name="approximate_sync" value="true"/>
</include>

<!-- 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>

<!-- 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[&quot;callerid&quot;])' --import std_msgs" />

<!-- <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[&quot;callerid&quot;])' -\-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[&quot;callerid&quot;])' -\-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[&quot;callerid&quot;])' --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[&quot;callerid&quot;])' --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[&quot;callerid&quot;])' --import std_msgs rospy" />

<!-- 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 $(arg manager)" >
<rosparam subst_value="true">
approximate_sync: true
topics:
- /publish_trigger_mongodb_event
- $(arg image)/compressed
</rosparam>
</node>

<!-- 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="$(arg manager)" />
</include>
</group>

<!-- 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>
-->

<!-- 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>
-->

</launch>
26 changes: 26 additions & 0 deletions jsk_robot_common/jsk_robot_startup/launch/sample_database_talker.launch
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<launch>
<!-- <include file="$(find jsk_robot_startup)/launch/lifelog.launch" > -->
<!-- <arg name="logger_save_action" value="true" /> -->
<!-- <arg name="logger_save_smach" value="true" /> -->
<!-- <!-\- <arg name="logger_save_faces" value="true" /> -\-> -->
<!-- <arg name="logger_save_dialogflow" value="true" /> -->
<!-- <arg name="image" value="/head_camera/rgb/image_rect_color" /> -->
<!-- <arg name="launch_mongodb" value="false" /> -->
<!-- </include> -->
<include file="$(find jsk_robot_startup)/launch/interaction.launch" ns="db_talker" >
<arg name="chat_use_helper" value="false" />
<arg name="launch_google_chat" value="false" />
<arg name="launch_gdrive_server" value="false" />
</include>
<include file="$(find jsk_perception)/launch/vqa.launch" >
<arg name="host" value="133.11.216.160" />
<arg name="port" value="8888" />
<arg name="run_api" value="false" />
</include>
<include file="$(find jsk_perception)/launch/classification.launch" >
<arg name="host" value="133.11.216.160" />
<arg name="port" value="9999" />
<arg name="run_api" value="false" />
</include>

</launch>
19 changes: 19 additions & 0 deletions jsk_robot_common/jsk_robot_startup/lifelog/lifelog_rgb_image.launch
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<launch>
<arg name="launch_manager" default="true" />
<arg if="$(arg launch_manager)" name="manager" default="mongodb_record_nodelet_manager" />
<arg unless="$(arg launch_manager)" name="manager" />
<arg name="respawn" default="false" />
<arg name="image" default="image" />
<arg name="node_name" default="rgb_image_logger" />

<node name="$(arg node_name)"
pkg="nodelet" type="nodelet"
args="load jsk_robot_lifelog/LightweightLogger /$(arg manager)"
respawn="$(arg respawn)">
<remap from="~input" to="$(arg image)" />
<rosparam subst_value="true">
enable_monitor: false
vital_check: false
</rosparam>
</node>
</launch>
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