jsk-ros-pkg · sktometometo · Apr 13, 2023 · Apr 13, 2023 · Apr 13, 2023 · Apr 13, 2023
diff --git a/database_talker/.gitignore b/database_talker/.gitignore
@@ -0,0 +1,3 @@
+auth/*
+test_db/*
+.vscode/*
diff --git a/database_talker/CMakeLists.txt b/database_talker/CMakeLists.txt
@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(database_talker)
+
+find_package(catkin REQUIRED COMPONENTS catkin_virtualenv)
+
+catkin_generate_virtualenv(
+  PYTHON_INTERPRETER python3
+  CHECK_VENV FALSE
+)
+
+catkin_package(
+)
+
+catkin_install_python(PROGRAMS
+  scripts/hoge.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
diff --git a/database_talker/README.md b/database_talker/README.md
@@ -0,0 +1,34 @@
+# hoge.py
+
+What is this?
+## Requirements
+
+See `requirements.txt` for python requirements.
+
+For ROS dependency.
+
+- `google_chat_ros` in `jsk_3rdparty` with [this improvement](https://github.com/jsk-ros-pkg/jsk_3rdparty/pull/451)
+- `dialogflow_client` in `dialogflow_task_executive` package in `jsk_3rdparty` with [this improvement](https://github.com/jsk-ros-pkg/jsk_3rdparty/pull/451)
+- `mongodb_store` with https://github.com/strands-project/mongodb_store/pull/282
+- CLIP VQA ros node introduced with https://github.com/jsk-ros-pkg/jsk_recognition/pull/2730.
+- `ros_google_cloud_language` package in `jsk_3rdparty`
+
+## How to use
+
+1. Setup google chat ros with Cloud Pub/Sub
+   1. prepare `credential_json` and `project_id` and `subscription_id`
+2. Setup dialogflow
+   1. prepare `credential_json` and `project_id`
+3. Setup mongodb_store
+   1. Create database with mondodb
+4. Setup CLIP VQA node
+   1. Make docker model
+   2. Run ROS Interface node
+5. Setup google cloud natural language
+   1. Prepare `credential_json`
+
+And run
+
+```bash
+roslaunch database_talker demo.launch
+```
diff --git a/database_talker/auth/.keepme b/database_talker/auth/.keepme
diff --git a/database_talker/launch/demo.launch b/database_talker/launch/demo.launch
@@ -0,0 +1,62 @@
+<launch>
+    <arg name="INPUT_IMAGE" default="/image"/>
+
+    <!-- config -->
+    <arg name="use_cam" default="true"/>
+
+    <!-- Dependency modules configuration -->
+    <arg name="google_chat_cloud_credentials_json"
+        default="$(find database_talker)/auth/fetch-kiedno-default.json"/>
+    <arg
+        name="google_chat_project_id" default="fetch-kiedno"/>
+    <arg
+        name="google_chat_subscription_id" default="chat-sub"/>
+    <arg
+        name="dialogflow_credentials_json"
+        default="$(find database_talker)/auth/fetch-kiedno-dialogflow.json"/>
+    <arg
+        name="dialogflow_project_id" default="axial-iris-343006"/>
+    <arg name="mongodb_path"
+        default="$(find database_talker)/test_db"/>
+    <arg name="google_natural_launguage_credentials_json"
+        default="$(find database_talker)/auth/eternal-byte-236613-4bc6962824d1.json"/>
+
+    <!-- Dependency modules -->
+    <include
+        file="$(find google_chat_ros)/launch/google_chat.launch">
+        <arg name="receiving_mode" value="pubsub"/>
+        <arg name="google_cloud_credentials_json" value="$(arg google_chat_cloud_credentials_json)"/>
+        <arg name="project_id" value="$(arg google_chat_project_id)"/>
+        <arg name="subscription_id" value="$(arg google_chat_subscription_id)"/>
+    </include>
+    <include
+        file="$(find dialogflow_task_executive)/launch/dialogflow_ros.launch">
+        <arg name="use_tts" value="false"/>
+        <arg name="credential" value="$(arg dialogflow_credentials_json)"/>
+        <arg name="project_id" value="$(arg dialogflow_project_id)"/>
+    </include>
+    <include
+        file="$(find mongodb_store)/launch/mongodb_store.launch">
+        <arg name="db_path" value="$(arg mongodb_path)"/>
+    </include>
+    <include file="$(find jsk_perception)/launch/classification.launch">
+        <arg name="run_api" value="true"/>
+        <arg name="CLASSIFICATION_INPUT_IMAGE" value="$(arg INPUT_IMAGE)"/>
+    </include>
+    <include file="$(find ros_google_cloud_language)/launch/analyze_text.launch">
+        <arg name="google_cloud_credentials_json"
+            value="$(arg google_natural_launguage_credentials_json)"/>
+    </include>
+
+    <group if="$(arg use_cam)">
+        <node pkg="usb_cam" type="usb_cam_node" name="usb_cam_node">
+            <remap from="~image_raw" to="$(arg INPUT_IMAGE)"/>
+            <rosparam>
+                pixel_format: yuyv
+            </rosparam>
+        </node>
+    </group>
+
+    <node pkg="database_talker" type="hoge.py" name="hoge" output="screen">
+    </node>
+</launch>
diff --git a/database_talker/package.xml b/database_talker/package.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>database_talker</name>
+  <version>0.0.0</version>
+  <description>The database_talker package</description>
+
+  <maintainer
+    email="[email protected]">sktometometo</maintainer>
+
+  <license>TODO</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>catkin_virtualenv</build_depend>
+
+
+  <export>
+    <pip_requirements>requirements.txt</pip_requirements>
+  </export>
+</package>
diff --git a/database_talker/requirements.txt b/database_talker/requirements.txt
@@ -0,0 +1,2 @@
+bson
+pymongo
diff --git a/database_talker/rosinstall b/database_talker/rosinstall
@@ -0,0 +1,12 @@
+- git:
+    local-name: jsk-ros-pkg/jsk_3rdparty
+    uri: https://github.com/k-okada/jsk_3rdparty.git
+    version: add_more_functions
+- git:
+    local-name: jsk-ros-pkg/jsk_recognition
+    uri: https://github.com/mqcmd196/jsk_recognition.git
+    version: PR/large-scale-vil
+- git:
+    local-name: strands-project/mongodb_store
+    uri: https://github.com/k-okada/mongodb_store.git
+    version: patch-1