def main():
client = actionlib.SimpleActionClient('render_mobility', RenderItemAction)
client.wait_for_server()
goal = RenderItemGoal(name='mobility', data='move:home')
client.send_goal(goal, done_cb=func_done, active_cb=func_active)
rospy.sleep(2)
goal = RenderItemGoal(name='mobility', data='stop')
client.send_goal(goal, done_cb=func_done, active_cb=func_active)
client.cancel_all_goals()
# client.wait_for_result()
rospy.signal_shutdown(0)
def main():
client = actionlib.SimpleActionClient('render_screen', RenderItemAction)
client.wait_for_server()
goal = RenderItemGoal(name='screen', data='show:mainView/{}')
client.send_goal(goal, done_cb=func_done, active_cb=func_active)
client.wait_for_result()
rospy.signal_shutdown(0)
def main():
client = actionlib.SimpleActionClient('render_facial_expression', RenderItemAction)
client.wait_for_server()
goal = RenderItemGoal(name='expression', data="happiness")
client.send_goal(goal, done_cb=func_done, feedback_cb=func_feedback, active_cb=func_active)
#rospy.sleep(10)
#client.cancel_all_goals()
client.wait_for_result()
rospy.signal_shutdown(0)
def main():
client = actionlib.SimpleActionClient('render_gesture', RenderItemAction)
client.wait_for_server()
goal = RenderItemGoal(name='gesture', data="gesture=play:sm/open/1")
client.send_goal(goal,
done_cb=func_done,
feedback_cb=func_feedback,
active_cb=func_active)
#rospy.sleep(10)
#client.cancel_all_goals()
client.wait_for_result()
rospy.signal_shutdown(0)
def main():
client = actionlib.SimpleActionClient('render_speech', RenderItemAction)
client.wait_for_server()
goal = RenderItemGoal(name='say', data="Hello! My name is silbot3.")
client.send_goal(goal,
done_cb=func_done,
feedback_cb=func_feedback,
active_cb=func_active)
#rospy.sleep(10)
#client.cancel_all_goals()
client.wait_for_result()
rospy.signal_shutdown(0)
def execute_callback(self, goal):
rospy.loginfo('\033[94m[%s]\033[0m rendering started.' % rospy.get_name())
result = RenderSceneResult()
render_scene = json.loads(goal.render_scene)
render_scene_time = {}
for k, v in render_scene.items():
if k != 'emotion' and k != 'br' and v['render'] != '':
render_scene_time[k] = v['offset']
try:
if render_scene['expression'] != {}:
# render_scene['expression']['render'] = render_scene['expression']['render'].rstrip('~')
self.return_to_last_expression = False
except KeyError:
pass
delay_time = render_scene['br']['time']
for i in range(delay_time * 10):
rospy.sleep(0.1)
# Sort by delay time
scene_item_sorted_by_time = sorted(render_scene_time, key=render_scene_time.get)
print(scene_item_sorted_by_time)
first_offset_time = render_scene[scene_item_sorted_by_time[0]]['offset']
rospy.sleep(first_offset_time)
for i in range(0, len(scene_item_sorted_by_time) - 1):
if scene_item_sorted_by_time[i] == 'gaze':
focusing_name = render_scene[scene_item_sorted_by_time[i]]['render']
self.gazefocus_pub.publish(focusing_name)
else:
item_goal = RenderItemGoal()
item_goal.name = scene_item_sorted_by_time[i]
item_goal.data = render_scene[scene_item_sorted_by_time[i]]['render']
# if item_goal.data == '':
# continue
self.render_client[scene_item_sorted_by_time[i]].send_goal(
goal=item_goal,
done_cb=self.cb_done[scene_item_sorted_by_time[i]],
active_cb=self.cb_start[scene_item_sorted_by_time[i]])
while not rospy.is_shutdown() and not self.is_rendering[scene_item_sorted_by_time[i]]:
rospy.sleep(0.01)
pass
delta_time = render_scene[scene_item_sorted_by_time[i+1]]['offset'] - render_scene[scene_item_sorted_by_time[i]]['offset']
rospy.sleep(delta_time)
if scene_item_sorted_by_time[-1] == 'gaze':
focusing_name = render_scene[scene_item_sorted_by_time[-1]]['render']
self.gazefocus_pub.publish(focusing_name)
else:
item_goal = RenderItemGoal()
item_goal.name = scene_item_sorted_by_time[-1]
item_goal.data = render_scene[scene_item_sorted_by_time[-1]]['render']
self.render_client[scene_item_sorted_by_time[-1]].send_goal(
goal=item_goal,
done_cb=self.cb_done[scene_item_sorted_by_time[-1]],
active_cb=self.cb_start[scene_item_sorted_by_time[-1]])
while not rospy.is_shutdown() and not self.is_rendering[scene_item_sorted_by_time[-1]]:
rospy.sleep(0.01)
pass
while not rospy.is_shutdown():
rendering = False
for i in scene_item_sorted_by_time:
if i != 'gaze':
rendering = rendering or self.is_rendering[i]
if not rendering:
break
rospy.sleep(0.1)
self.gazefocus_pub.publish('')
if self.return_to_last_expression:
item_goal = RenderItemGoal()
item_goal.name = 'expression'
item_goal.data = render_scene['emotion']['current_emotion']
self.render_client['expression'].send_goal(
goal=item_goal,
done_cb=self.cb_done['expression'],
active_cb=self.cb_start['expression'])
while not rospy.is_shutdown() and not self.is_rendering['expression']:
rospy.sleep(0.01)
while not rospy.is_shutdown() and self.is_rendering['expression']:
rospy.sleep(0.01)
self.return_to_last_expression = False
'''
if goal.emotion == 'neutral':
self.pub_face_emotion.publish(
SetFacialExpression.NEUTRAL, goal.emotion_intensity)
elif goal.emotion == 'happiness':
self.pub_face_emotion.publish(
SetFacialExpression.HAPPINESS, goal.emotion_intensity)
elif goal.emotion == 'surprise':
self.pub_face_emotion.publish(
SetFacialExpression.HAPPINESS, goal.emotion_intensity)
elif goal.emotion == 'anger':
self.pub_face_emotion.publish(
SetFacialExpression.HAPPINESS, goal.emotion_intensity)
elif goal.emotion == 'sadness':
self.pub_face_emotion.publish(
SetFacialExpression.HAPPINESS, goal.emotion_intensity)
elif goal.emotion == 'disgust':
self.pub_face_emotion.publish(
SetFacialExpression.HAPPINESS, goal.emotion_intensity)
elif goal.emotion == 'fear':
self.pub_face_emotion.publish(
SetFacialExpression.HAPPINESS, goal.emotion_intensity)
if goal.gesture != '':
# When robot requested play gesture, the idle motion is disabled temporary
self.is_playing_now = True
# print goal.gesture
recv_data = goal.gesture.split(':')
if recv_data[0] == 'sm':
# print recv_data
if recv_data[1] in self.motion_tag:
gesture_name = self.motion_tag[recv_data[1]][
random.randrange(0, len(self.motion_tag[recv_data[1]]))]
else:
gesture_name = recv_data[1]
elif recv_data[0] == 'pm':
gesture_name = recv_data[1]
gesture_goal = GestureActionGoal(gesture=gesture_name)
self.gesture_client.send_goal(goal=gesture_goal, done_cb=self.gesture_done_cb,
feedback_cb=self.gesture_playing_cb, active_cb=self.gesture_start_cb)
# rospy.sleep(2)
if goal.say != '':
# When robot is speaking, the speech_recognition is disabled temporary
self.is_speaking_now = True
self.is_gesture_only = False
speech_goal = SpeechActionGoal(say=goal.say)
self.speech_client.send_goal(goal=speech_goal, done_cb=self.speech_done_cb,
feedback_cb=self.speech_speaking_cb, active_cb=self.speech_start_cb)
else:
# Gesture Only
self.is_gesture_only = True
while self.is_speaking_now or self.is_playing_now:
# rospy.logwarn('%d %d'%(self.is_speaking_now, self.is_playing_now))
if self.is_gesture_only:
rospy.sleep(0.2)
continue
if not self.is_speaking_now and self.is_playing_now:
self.sync_count_gesture += 1
if self.sync_count_gesture > 3:
self.gesture_client.cancel_all_goals()
self.sync_count_gesture = 0
rospy.sleep(0.2)
self.pub_face_emotion.publish(SetFacialExpression.PREVIOUS_FACE, 1.0)
'''
rospy.loginfo('\033[94m[%s]\033[0m rendering completed.' % rospy.get_name())
result.result = True
self.server.set_succeeded(result)