diff --git a/jsk_naoqi_robot/jsk_201504_miraikan/euslisp/mirai-demo-20150413.l b/jsk_naoqi_robot/jsk_201504_miraikan/euslisp/mirai-demo-20150413.l index 2d3e9f18e0..d9abcb7a9b 100755 --- a/jsk_naoqi_robot/jsk_201504_miraikan/euslisp/mirai-demo-20150413.l +++ b/jsk_naoqi_robot/jsk_201504_miraikan/euslisp/mirai-demo-20150413.l @@ -1,7 +1,7 @@ #!/usr/bin/env roseus (ros::roseus "greeting") -(ros::load-ros-manifest "peppereus") +(ros::load-ros-package "peppereus") (require :pepper-interface "package://peppereus/pepper-interface.l") (load "package://jsk_201504_miraikan/euslisp/pepper-motions.l") @@ -22,7 +22,7 @@ (send *ri* :set-language language))) ;; play audio file and make a gesture -(defun playAudioFile_move (file angle-list time-list) +(defun play_audio_file_move (file angle-list time-list) (ros::ros-info "speak") (send *ri* :angle-vector-sequence angle-list time-list) (send *ri* :play-audio-file file)) @@ -40,17 +40,6 @@ (send *ri* :stop-grasp) (case language (:ja - ;; we can't use these services now, but I leave them tempolarily. - ;;(setq req_language (instance dynamic_reconfigure::ReconfigureRequest :init)) - ;;(setq req_voice (instance dynamic_reconfigure::ReconfigureRequest :init)) - ;;(send req_language :config :strs (list (instance dynamic_reconfigure::StrParameter :init :name "language" :value "Japanese"))) - ;;(ros::ros-info "wait for nao_speech/set_parameters") - ;;(ros::wait-for-service "nao_speech/set_parameters") - ;;(ros::service-call "nao_speech/set_parameters" req_language) - ;;(send req_voice :config :strs (list (instance dynamic_reconfigure::StrParameter :init :name "voice" :value "maki_n16"))) - ;;(ros::ros-info "wait for nao_speech/set_parameters") - ;;(ros::wait-for-service "nao_speech/set_parameters") - ;;(ros::service-call "nao_speech/set_parameters" req_voice) (change-speaking-language "Japanese") (speak_move "\\vct=180\\稲葉岡田研究室にようこそ\\pau=1000\\私はペッパー\\pau=500\\人と一緒に暮らすために作られたロボットです\\vct=130\\" *lift_arm_and_bow* (list 1000 1000 1000 1000 1000 1000 1000)) (speak_move "\\vct=180\\家事が苦手で\\pau=500\\産業ロボットのような器用なアームはないですが\\pau=500\\言葉を通して人と交流することができますし\\pau=500\\人の声を認識したり\\pau=500\\センサーによって触覚を感じられたりします\\pau=1000\\そして\\pau=500\\人の顔を見て覚えられますよ。\\vct=130\\" *pepper_can_cannot* (list 2000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1500 1000 1500 1000 1000 1000 1000 1000)) @@ -65,27 +54,16 @@ (speak_move "\\vct=180\\今日はここで\\pau=100\\みなさんとお会いし\\pau=500\\自分のことを知ってもらえて\\pau=500\\とても嬉しいです\\pau=1000\\本当にありがとうございます。\\vct=130\\" (list *reset_pose* *reset_pose* *reset_pose* *reset_pose* *reset_pose* *reset_pose* *reset_pose* *reset_pose* *left_right_arm* *left_right_arm* *left_right_arm* *bow* *bow* *bow* *reset_pose*) (list 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000)) ) (:chi - (playAudioFile_move "/audio_file/M1.mp3" *lift_arm_and_bow* (list 1000 1000 1000 1000 1000 1000 1000)) - (playAudioFile_move "/audio_file/M2.mp3" *pepper_can_cannot* (list 2000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1500 1000 1500 1000 1000 1000 1000 1000)) - (playAudioFile_move "/audio_file/M3.mp3" *pepper_run* (list 1000 1000 1000 1000 1000 1000 100 100 100 1000 1000 1000 1000)) - (playAudioFile_move "/audio_file/M4.mp3" (list *reset_pose* *reset_pose* *reset_pose* *show_the_camera_on_head* *show_the_camera_on_head* *show_the_camera_on_head* *show_the_camera_in_mouth* *show_the_camera_in_mouth* *open_two_hands_widely*) (list 1000 1000 1000 1000 1000 1000 1000 1000)) - (playAudioFile_move "/audio_file/M5.mp3" *speaker_touch_sensor* (list 2000 1000 1000 2000 2000 1000 1000 1000 1000 1000)) - (playAudioFile_move "/audio_file/M6.mp3" (list *reset_pose* *reset_pose* *reset_pose* *reset_pose* *reset_pose* *touch_CPU* *touch_CPU* *touch_CPU* *reset_pose*) (list 3000 2000 2000 1000 1000 1000 2000 1000 1000)) - (playAudioFile_move "/audio_file/M7.mp3" (list *lift_two_hands_beside_face_and_bow_slightly_to_right* *lift_two_hands_beside_face_and_bow_slightly_to_right* *lift_two_hands_beside_face_and_bow_slightly_to_right* *bow_slightly_to_left* *bow_slightly_to_left* *bow_slightly_to_left* *reset_pose* *reset_pose* *put_two_hands_in_front_of_the_body* *put_two_hands_in_front_of_the_body* *put_two_hands_in_front_of_the_body* *open_two_arms_widely_and_look_at_the_sky* *open_two_arms_widely_and_look_at_the_sky* *open_two_arms_widely_and_look_at_the_sky* *put_two_hands_in_front_of_the_body* *bow_slightly_to_left* *bow_slightly_to_left* *put_two_hands_in_front_of_the_body* *put_two_hands_in_front_of_the_body* *put_two_hands_in_front_of_the_body* *open_two_arms_widely_and_look_at_the_sky* *open_two_arms_widely_and_look_at_the_sky* *open_two_arms_widely_and_look_at_the_sky* *look_right* *look_left* *reset_pose*) (list 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000)) - (playAudioFile_move "/audio_file/M8.mp3" (list *reset_pose* *reset_pose* *reset_pose* *reset_pose* *reset_pose* *reset_pose* *reset_pose* *reset_pose* *left_right_arm* *left_right_arm* *left_right_arm* *bow* *bow* *bow* *reset_pose*) (list 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000)) + (play_audio_file_move "/audio_file/M1.mp3" *lift_arm_and_bow* (list 1000 1000 1000 1000 1000 1000 1000)) + (play_audio_file_move "/audio_file/M2.mp3" *pepper_can_cannot* (list 2000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1500 1000 1500 1000 1000 1000 1000 1000)) + (play_audio_file_move "/audio_file/M3.mp3" *pepper_run* (list 1000 1000 1000 1000 1000 1000 100 100 100 1000 1000 1000 1000)) + (play_audio_file_move "/audio_file/M4.mp3" (list *reset_pose* *reset_pose* *reset_pose* *show_the_camera_on_head* *show_the_camera_on_head* *show_the_camera_on_head* *show_the_camera_in_mouth* *show_the_camera_in_mouth* *open_two_hands_widely*) (list 1000 1000 1000 1000 1000 1000 1000 1000)) + (play_audio_file_move "/audio_file/M5.mp3" *speaker_touch_sensor* (list 2000 1000 1000 2000 2000 1000 1000 1000 1000 1000)) + (play_audio_file_move "/audio_file/M6.mp3" (list *reset_pose* *reset_pose* *reset_pose* *reset_pose* *reset_pose* *touch_CPU* *touch_CPU* *touch_CPU* *reset_pose*) (list 3000 2000 2000 1000 1000 1000 2000 1000 1000)) + (play_audio_file_move "/audio_file/M7.mp3" (list *lift_two_hands_beside_face_and_bow_slightly_to_right* *lift_two_hands_beside_face_and_bow_slightly_to_right* *lift_two_hands_beside_face_and_bow_slightly_to_right* *bow_slightly_to_left* *bow_slightly_to_left* *bow_slightly_to_left* *reset_pose* *reset_pose* *put_two_hands_in_front_of_the_body* *put_two_hands_in_front_of_the_body* *put_two_hands_in_front_of_the_body* *open_two_arms_widely_and_look_at_the_sky* *open_two_arms_widely_and_look_at_the_sky* *open_two_arms_widely_and_look_at_the_sky* *put_two_hands_in_front_of_the_body* *bow_slightly_to_left* *bow_slightly_to_left* *put_two_hands_in_front_of_the_body* *put_two_hands_in_front_of_the_body* *put_two_hands_in_front_of_the_body* *open_two_arms_widely_and_look_at_the_sky* *open_two_arms_widely_and_look_at_the_sky* *open_two_arms_widely_and_look_at_the_sky* *look_right* *look_left* *reset_pose*) (list 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000)) + (play_audio_file_move "/audio_file/M8.mp3" (list *reset_pose* *reset_pose* *reset_pose* *reset_pose* *reset_pose* *reset_pose* *reset_pose* *reset_pose* *left_right_arm* *left_right_arm* *left_right_arm* *bow* *bow* *bow* *reset_pose*) (list 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000)) ) (:en - ;; we can't use these services now, but I leave them tempolarily. - ;;(setq req_language (instance dynamic_reconfigure::ReconfigureRequest :init)) - ;;(setq req_voice (instance dynamic_reconfigure::ReconfigureRequest :init)) - ;;(send req_language :config :strs (list (instance dynamic_reconfigure::StrParameter :init :name "language" :value "English"))) - ;;(ros::ros-info "wait for nao_speech/set_parameters") - ;;(ros::wait-for-service "nao_speech/set_parameters") - ;;(ros::service-call "nao_speech/set_parameters" req_language) - ;;(send req_voice :config :strs (list (instance dynamic_reconfigure::StrParameter :init :name "voice" :value "Kenny22Enhanced"))) - ;;(ros::ros-info "wait for nao_speech/set_parameters") - ;;(ros::wait-for-service "nao_speech/set_parameters") - ;;(ros::service-call "nao_speech/set_parameters" req_voice) (change-speaking-language "English") (speak_move "Welcome to JSK laboratory. I am pepper, \\pau=500\\a robot which is designed to live with human beings." *lift_arm_and_bow* (list 1000 1000 1000 1000 1000 1000 1000)) (speak_move "Although I'm not good at doing housework,\\pau500\\ nor do I have dexterous arms like industrial robots do, \\pau=500\\I'm able to communicate with humans through language, \\pau=500\\recognize human' voices,\\pau=500\\ feel touch and remember the faces of humans whom I have seen." *pepper_can_cannot* (list 2000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1500 1000 1500 1000 1000 1000 1000 1000)) @@ -98,12 +76,6 @@ ) )) (ros::ros-warn "usage") -(ros::ros-warn "if Japanese,") -(ros::ros-warn "demo") -(ros::ros-warn "if Chinese,") -(ros::ros-warn "demo :chi") -(ros::ros-warn "if English,") -(ros::ros-warn "demo :en") - -;;(demo) - +(ros::ros-warn "if Japanese, type (demo)") +(ros::ros-warn "if Chinese, type (demo :chi)") +(ros::ros-warn "if English, type (demo :en)")