def setUp(self):
self.run_id = 'test_perception'
config = roslaunch.config.ROSLaunchConfig()
config.add_node(
core.Node(package='perception',
node_type='joint_state_publisher.py',
name='state_publisher'))
self.joints = [
'Eyes_Pitch', 'Eye_L', 'Eye_R', 'roll_base_joint',
'pitch_base_joint', 'yaw_joint', 'roll_neck_joint',
'pitch_neck_joint'
]
config.add_param(
core.Param('/state_publisher/pau_joints', ';'.join(self.joints)))
config.add_node(
core.Node(package='perception',
node_type='faces_tf2_broadcaster.py',
name='faces_broadcaster'))
self.runner = roslaunch.launch.ROSLaunchRunner(self.run_id,
config,
is_rostest=True)
self.runner.launch()
for node in config.nodes:
wait_for('%s/%s' % (node.namespace, node.name))
def setUp(self):
self.run_id = 'test_eva_behavior'
config = roslaunch.config.ROSLaunchConfig()
self.node = core.Node(package='eva_behavior',
node_type='main.py',
name='Eva_behavior')
config.add_node(self.node)
self.runner = roslaunch.launch.ROSLaunchRunner(self.run_id, config)
self.runner.launch()
def setUp(self):
blender_api_path = os.path.join(
rospkg.RosPack().get_path('blender_api_msgs'), '../blender_api')
config = roslaunch.config.ROSLaunchConfig()
config.add_node(
core.Node(package='blender_api_msgs',
node_type='blender',
args='-y %s/Sophia.blend -P %s/autostart.py' %
(blender_api_path, blender_api_path),
name='blender_api'))
self.runner = roslaunch.launch.ROSLaunchRunner(self.run_id,
config,
is_rostest=True)
self.runner.launch()
for node in config.nodes:
wait_for('%s/%s' % (node.namespace, node.name))
time.sleep(5) # Wait for blender rendering done
def process(self, loader, ros_launch_config):
context = loader.root_context
# Add all our params to the ROSLaunchConfig
param_ns = context.child(self.node_name)
for name, value in self.params.iteritems():
loader_value = loader.param_value(self.verbose, name, 'auto',
py_types_to_string(value), None,
None, None)
p = rr.Param(param_ns.ns + name, loader_value)
ros_launch_config.add_param(p, verbose=self.verbose)
for rp in self.rosparams:
if rp.get_namespace() is None:
rp.set_namespace(param_ns.ns)
else:
rp.set_namespace(rn.ns_join(param_ns.ns, rp.get_namespace()))
rp.process(loader, ros_launch_config)
# Add to a LoaderContext verify that names are legal
remap_ns = context.child('')
for r in self.remaps:
remap_ns.add_remap(r)
# Create our node
self.node = rr.Node(
self.package_name,
self.node_type,
self.node_name,
remap_args=remap_ns.remap_args(),
# Setting this pipes mutes the node's stdout.
# namespace=param_ns.ns,
namespace=self.namespace,
args=self.args,
respawn=self.respawn,
respawn_delay=self.respawn_delay,
output=self.output,
launch_prefix=self.launch_prefix)
ros_launch_config.add_node(self.node, self.verbose)
def setUp(self):
self.run_id = 'test_robot'
rospack = rospkg.RosPack()
config = roslaunch.config.ROSLaunchConfig()
self.test_data_path = '%s/test_data' % CWD
tts_path = rospack.get_path('tts')
self.tts_output = os.path.join(tts_path, 'tmp')
files = glob.glob('%s/*.wav' % self.tts_output)
if files:
shutil.rmtree('%s.bak' % self.tts_output)
shutil.move(self.tts_output, '%s.bak' % self.tts_output)
os.makedirs(self.tts_output)
self.output_video = '%s/output_video' % CWD
if not os.path.isdir(self.output_video):
os.makedirs(self.output_video)
self.output_audio = '%s/output_audio' % CWD
if not os.path.isdir(self.output_audio):
os.makedirs(self.output_audio)
# blender_api
blender_api_path = os.path.join(rospack.get_path('blender_api_msgs'),
'../blender_api')
config.add_node(
core.Node(package='blender_api_msgs',
node_type='blender',
args='-y %s/Eva.blend -P %s/autostart.py' %
(blender_api_path, blender_api_path),
name='blender_api'))
# eva_behavior
eva_behavior_path = rospack.get_path('eva_behavior')
self.behavior_config = ConfigParser.ConfigParser()
config_file = os.path.join(eva_behavior_path, 'behavior.cfg')
self.behavior_config.read(config_file)
config.add_node(
core.Node(package='eva_behavior',
node_type='main.py',
name='Eva_behavior'))
# pi_face_tracker
config_file = os.path.join(rospack.get_path('pi_face_tracker'),
'launch', 'face_tracker_usb_cam.launch')
loader = roslaunch.xmlloader.XmlLoader()
loader.load(config_file, config)
# tts
config.add_node(
core.Node(package='tts', node_type='tts_talker.py', name='tts'))
# chatbot
config.add_node(
core.Node(package='chatbot',
node_type='ai.py',
args='%s/../../chatbot/aiml' % CWD,
name='chatbot_ai'))
config.add_param(core.Param('/tts/topic_name', 'chatbot_responses'))
self.runner = roslaunch.launch.ROSLaunchRunner(self.run_id,
config,
is_rostest=True)
self.display = os.environ.get('DISPLAY', ':0')
if not self.display == ':0':
startxvfb(self.display)
self.runner.launch()
for node in config.nodes:
wait_for('%s/%s' % (node.namespace, node.name))
time.sleep(15) # Wait for blender rendering done and chatbot