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<launch> | ||
<!-- DEFAULTS --> | ||
<!-- export LIBGL_ALWAYS_SOFTWARE=1--> | ||
<arg name="is_sim" default="false" /> | ||
<arg name="plot_show" default="false" /> | ||
<arg name="plot_save" default="true" /> | ||
<arg name="debug_with_images" default="true" /> | ||
<arg name="publish_markers" default="true" /> | ||
<arg name="debug" default="3" /> | ||
<arg name="rasa" default="true" /> | ||
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<param name="plot_show" value="$(arg plot_show)" /> | ||
<param name="plot_save" value="$(arg plot_save)" /> | ||
<param name="debug" value="$(arg debug)" /> | ||
<param name="rasa" value="$(arg rasa)" /> | ||
<param name="debug_with_images" value="$(arg debug_with_images)" /> | ||
<param name="publish_markers" value="$(arg publish_markers)" /> | ||
<!-- PARAMS --> | ||
<arg name="config" default="lab"/> | ||
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<!-- INTERACTION --> | ||
<arg name="whisper_device_param" default="10" /> | ||
<node pkg="lasr_speech_recognition_whisper" type="transcribe_microphone_server" name="transcribe_speech" output="screen" args="--mic_device $(arg whisper_device_param)"/> | ||
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<!-- INTERACTION --> | ||
<!-- <node pkg="interaction_module" name="interaction_module_srv" type="interaction_module_srv.py"/> --> | ||
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<arg name="whisper_matcher" default="by-index" /> | ||
<!-- <arg name="whisper_device_param" default="9" />--> | ||
<arg name="whisper_device_param" default="13" /> | ||
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<arg name="rasa_model" default="$(find lasr_rasa)/assistants/receptionist/models"/> | ||
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<!-- <include file = "$(find lasr_speech)/launch/speech.launch"> | ||
<arg name="matcher" value="$(arg whisper_matcher)"/> | ||
<arg name="device_param" value="$(arg whisper_device_param)"/> | ||
<arg name="rasa_model" value="$(arg rasa_model)"/> | ||
</include> --> | ||
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<node | ||
pkg="lasr_speech_recognition_whisper" | ||
type="transcribe_microphone_server" | ||
name="transcribe_speech" | ||
output="screen" | ||
args="--mic_device 13" | ||
/> | ||
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<!-- STATIC POINTS --> | ||
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<group if="$(arg is_sim)"> | ||
<rosparam command="load" file="$(find lift)/config/final_lift_sim.yaml" /> | ||
</group> | ||
<group unless="$(arg is_sim)"> | ||
<rosparam command="load" file="$(find receptionist)/config/receptionist_demo.yaml" /> | ||
<!-- <rosparam command="load" file="$(find lift)/config/final_mk.yaml" />--> | ||
</group> | ||
<!-- STATIC POINTS --> | ||
<rosparam command="load" file="$(find receptionist)/config/$(arg config).yaml" /> | ||
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<!-- MOTIONS --> | ||
<rosparam command="load" file="$(find lasr_skills)/config/motions.yaml"/> | ||
<rosparam command="load" file="$(find receptionist)/config/motions.yaml"/> | ||
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<!-- PCL and clear --> | ||
<!-- <node pkg="read_pcl_info" type="pcl_helpers.py" name="pcl_helpers" output="screen"/> --> | ||
<!-- <node pkg="read_pcl_info" name="clear_continuosly" type="clear_continuosly.py"/>--> | ||
<!-- <node pkg="lasr_shapely" name="shapely" type="service"/> --> | ||
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<!-- PERCEPTION --> | ||
<node pkg="lasr_vision_yolov8" type="service" name="yolo_service" output="screen"/> | ||
<node pkg="lasr_vision_torch" type="service" name="torch_service" output="screen"/> | ||
<node pkg="lasr_vision_bodypix" type="service" name="bodypix_service" output="screen"/> | ||
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<node pkg="lasr_vision_deepface" type="service" name="deepface_service" output="screen"/> | ||
<include file="$(find lasr_vision_yolov8)/launch/service.launch" /> | ||
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</launch> |
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#!/usr/bin/env python3 | ||
import rospy | ||
from receptionist.sm import Receptionist | ||
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from geometry_msgs.msg import Pose, Point, Quaternion | ||
from shapely.geometry import Polygon | ||
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if __name__ == "__main__": | ||
rospy.init_node("receptionist_robocup") | ||
wait_pose_param = rospy.get_param("/receptionist/wait_pose") | ||
wait_pose = Pose( | ||
position=Point(**wait_pose_param["position"]), | ||
orientation=Quaternion(**wait_pose_param["orientation"]), | ||
) | ||
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wait_area_param = rospy.get_param("/receptionist/wait_area") | ||
wait_area = Polygon(wait_area_param) | ||
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seat_pose_param = rospy.get_param("/receptionist/seat_pose") | ||
seat_pose = Pose( | ||
position=Point(**seat_pose_param["position"]), | ||
orientation=Quaternion(**seat_pose_param["orientation"]), | ||
) | ||
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seat_area_param = rospy.get_param("/receptionist/seat_area") | ||
seat_area = Polygon(seat_area_param) | ||
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receptionist = Receptionist( | ||
wait_pose, | ||
wait_area, | ||
seat_pose, | ||
seat_area, | ||
{ | ||
"name": "John", | ||
"drink": "beer", | ||
"attributes": { | ||
"hair_colour": "strawberry blonde", | ||
"glasses": False, | ||
"hat": True, | ||
"height": "tall", | ||
}, | ||
}, | ||
) | ||
outcome = receptionist.execute() | ||
rospy.loginfo(f"Receptionist finished with outcome: {outcome}") | ||
rospy.spin() |
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from .default import Default | ||
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