feat: learn face example

common/vision/lasr_vision_deepface/CMakeLists.txt

@@ -163,6 +163,7 @@ catkin_install_python(PROGRAMS
   scripts/create_dataset
   examples/relay
   examples/greet
+  examples/learn_face
   nodes/service
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )

common/vision/lasr_vision_deepface/examples/learn_face

@@ -0,0 +1,60 @@
+#!/usr/bin/env python3
+
+import rospy
+import actionlib
+import cv2_img
+import torch
+
+from lasr_vision_msgs.msg import (
+    LearnFaceAction,
+    LearnFaceResult,
+)
+from lasr_vision_msgs.srv import (
+    LearnFace as LF,
+    LearnFaceRequest as LFRequest,
+)
+from pal_interaction_msgs.msg import TtsGoal, TtsAction
+from sensor_msgs.msg import Image
+from actionlib import SimpleActionClient
+
+
+class LearnFace:
+
+    def __init__(self):
+
+        self.learn_face = rospy.ServiceProxy("/learn_face", LF)
+        self.learn_face.wait_for_service()
+        rospy.loginfo("got learn_face")
+
+        self.tts = SimpleActionClient("/tts", TtsAction)
+        self.tts.wait_for_server()
+
+        self._action_server = actionlib.SimpleActionServer(
+            "learn_face",
+            LearnFaceAction,
+            execute_cb=self.execute_cb,
+            auto_start=False,
+        )
+
+        self._action_server.start()
+
+    def execute_cb(self, goal):
+        rospy.loginfo("Learning face!")
+
+        tts_goal = TtsGoal()
+        tts_goal.rawtext.lang_id = "en_GB"
+        tts_goal.rawtext.text = f"{goal.name}, give me a moment to learn your face"
+        self.tts.send_goal_and_wait(tts_goal)
+        req = LFRequest()
+        req.dataset = "learn_face_example_dataset"
+        req.name = goal.name
+        req.n_images = 10
+        self.learn_face(req)
+
+        self._action_server.set_succeeded(LearnFaceResult())
+
+
+if __name__ == "__main__":
+    rospy.init_node("learn_face")
+    LearnFace()
+    rospy.spin()

common/vision/lasr_vision_msgs/CMakeLists.txt

@@ -7,7 +7,7 @@ project(lasr_vision_msgs)
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS message_generation message_runtime sensor_msgs)
+find_package(catkin REQUIRED COMPONENTS message_generation actionlib_msgs actionlib message_runtime sensor_msgs)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
@@ -63,16 +63,17 @@ add_service_files(
   LearnFace.srv
 )
 
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
+# Generate actions in the 'action' folder
+add_action_files(
+  DIRECTORY action
+  FILES 
+  LearnFace.action
+)
 
 ## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
+  actionlib_msgs
   sensor_msgs
 )
 

common/vision/lasr_vision_msgs/action/LearnFace.action

@@ -0,0 +1,4 @@
+
+string name
+---
+---