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Merge pull request #816 from kochigami/delete-unable-to-use-service
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[jsk_201504_miraikan] mirai-demo-20150413.l: delete services we can't use now
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@k-okada
k-okada authored Nov 21, 2018
2 parents 0725214 + 5421f55 commit d18c60a
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60 changes: 52 additions & 8 deletions jsk_naoqi_robot/jsk_201504_miraikan/README.md
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jsk_201504_miraikan
===================

how to run demo
--------------
What is this?
-------------

For Japanese and English demo,
Please confirm the language (Japanese/ English). You can change it from Pepper's tablet -> setup. (Note: This function is under construction.)
Pepper@JSK introduces him/ herself.
Pepper can speak three languages (Japanese, Chinese and English).

For Chinese demo,
please move mp3 files in file directory you want Pepper to speak under ``` /home/nao/audio_file . If not, please make ```audio_file``` folder in ```/home/nao/```. You can use ```scp <file> nao@<Pepper IP>:/home/nao/audio_file/```.
Requirements
------------

- jsk_naoqi_robot environment: Please follow instructions [here](https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_naoqi_robot/README.md)
- naoqi_driver (kochigami-develop)
- naoqi_bridge_msgs (kochigami-develop)

For the time being, please use `kochigami-develop` branch of `naoqi_driver` and `naoqi_bridge_msgs`.

```
cd catkin_ws/src
wstool set naoqi_driver --git https://github.com/ros-naoqi/naoqi_driver
wstool set naoqi_bridge_msgs --git https://github.com/ros-naoqi/naoqi_bridge_msgs
wstool update
cd naoqi_driver
git remote add kochigami https://github.com/kochigami/naoqi_driver.git
git fetch kochigami
git checkout -b kochigami-develop kochigami/kochigami-develop
cd ../naoqi_bridge_msgs
git remote add kochigami https://github.com/kochigami/naoqi_bridge_msgs.git
git fetch kochigami
git checkout -b kochigami-develop kochigami/kochigami-develop
```

How to run demo?
----------------

This demo was tested with Pepper (NAOqi version: 2.5.5.5) and ROS kinetic.

- (Optional) Preparation for Chinese demo

Please move mp3 files under `/jsk_201504_miraikan/file` to `/home/nao/audio_file` inside Pepper's PC.
You can log in to Pepper's PC by `ssh nao@<Pepper's IP>`.
If there is no `audio_file` folder, please make it under `/home/nao/`.
You can move mp3 files as follows:

```
roscd jsk_201504_miraikan
cd file
scp <file name> nao@<Pepper IP>:/home/nao/audio_file/
```

- Please execute these for all languages

```
roslaunch jsk_pepper_startup jsk_pepper_startup.launch
roslaunch nao_interaction_launchers nao_audio_interface.launch nao_ip:=<Pepper's IP>
roseus mirai-demo-2015-0413.l
demo (:en, :chi)
demo ; Japanese
demo :en ; English
demo :chi ; Chinese
```
104 changes: 36 additions & 68 deletions jsk_naoqi_robot/jsk_201504_miraikan/euslisp/mirai-demo-20150413.l
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#!/usr/bin/env roseus

(ros::roseus "greeting")
(ros::load-ros-manifest "peppereus")
(require :pepper-interface "package://peppereus/pepper-interface.l")
(load "package://jsk_201504_miraikan/euslisp/pepper-motions.l")
(require "models/arrow-object.l")
(unless (boundp '*ri*)
(pepper-init))
(unless (boundp '*irtviewer*)
(setq *irtviewer* (make-irtviewer)))
(unless (string= (send *ri* :get-life) "disabled")
(send *ri* :disable-life))
(send *ri* :servo-on)
(send *ri* :angle-vector (send *pepper* :reset-pose))

;; 音声ファイルを再生し、動く関数
(defun playAudioFile_move (file angle-list time-list)
;; If autonomous life is on, kill it and servo on again
(defun check-autonomous-life-is-on ()
(unless (boundp '*ri*)
(pepper-init))
(if (not (string= (send *ri* :get-life) "disabled"))
(progn
(send *ri* :disable-life)
(send *ri* :servo-on)
))
(send *ri* :angle-vector (send *pepper* :reset-pose)))

;; change speaing language if needed
(defun change-speaking-language (language)
(if (not (string= (send *ri* :get-language) language))
(send *ri* :set-language language)))

;; play audio file and make a gesture
(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)
)
(send *ri* :play-audio-file file))

;; 発話し、動く関数
;; speak and make a gesture
(defun speak_move (speech_msg angle-list time-list)
(ros::ros-info "speak")
(send *ri* :speak speech_msg)
(send *ri* :angle-vector-sequence angle-list time-list)
(send *ri* :wait-interpolation)
)
(send *ri* :wait-interpolation))

;; main program
(defun demo(&optional (language :ja))
(send *ri* :set-master-volume 45) ;;90
(check-autonomous-life-is-on)
(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)

(unless (string= (send *ri* :get-life) "disabled")
(send *ri* :disable-life))
(send *ri* :servo-on)

(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))
(speak_move "\\vct=180\\目で世界を見ることができます\\pau=1000\\私の二つの目はスリーディーカメラで\\pau=500\\実世界の三次元画像をとれて\\pau=500\\移動するとき距離を判断できます。\\vct=130\\" *pepper_run* (list 1000 1000 1000 1000 1000 1000 100 100 100 1000 1000 1000 1000))
Expand All @@ -63,32 +53,17 @@
(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)

(unless (string= (send *ri* :get-life) "disabled")
(send *ri* :disable-life))
(send *ri* :servo-on)

(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))
(speak_move "I can see the world with my eyes as well. My two eyes are 3D cameras, \\pau=500\\with which I get the point cloud data of the real world, \\pau=100\\so I can judge distance when I'm moving." *pepper_run* (list 1000 1000 1000 1000 1000 1000 100 100 100 1000 1000 1000 1000))
Expand All @@ -100,13 +75,6 @@
)
))
(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)")

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