def __init__(self, phrase_file):
self.sound_client = SoundClient()
rospy.sleep(0.5)
self.sound_client.stopAll()
#self.animation_client = actionlib.SimpleActionClient('/Animation_Server',ExpressionMotionAction)
self.viseme_client = actionlib.SimpleActionClient(
'/Viseme_Server', VisemeAction)
#self.lookat_client = actionlib.SimpleActionClient('/Lookat_Server',LookatAction)
rospy.loginfo("Waiting for Cordial Action Servers")
#rospy.loginfo(" --- Animation")
#self.animation_client.wait_for_server()
rospy.loginfo(" --- Visemes")
self.viseme_client.wait_for_server()
#rospy.loginfo(" --- Lookat")
#self.lookat_client.wait_for_server()
rospy.loginfo("Action servers connected")
rospy.loginfo("Reading Phrase File")
with open(phrase_file, 'r') as f:
s = f.read()
self.phrases = yaml.load(s)
self.feedback.viseme = "IDLE"
self.feedback.action = "none"
rospy.loginfo("Starting server...")
self.server = actionlib.SimpleActionServer('SBPlayback_Server',
SpeechPlayAction,
execute_cb=self.execute_cb)
self.server.start()
rospy.loginfo("Server started")
def __init__(self):
def callback(data):
if int(data.data) == 100:
self.performedBehaviors = []
return
#action behavior processing
if int(data.data) == 0 and len(self.performedBehaviors) > 1:
self.performedBehaviors = []
if data not in self.performedBehaviors:
print("performing behavior")
# time.sleep(1.0)
case = int(data.data)
if case == 0:
self.robot.say("demo2", wait=True)
elif case == 1:
self.robot.say("dance1", wait=True)
# time.sleep(4.0)
elif case == 2:
self.robot.say("compliment1", wait=True)
elif case == 3:
self.robot.say("encouragement1", wait=True)
elif case == 4:
self.robot.say("sassy1", wait=True)
elif case == 5:
self.robot.say("joke1", wait=True)
elif case == 6:
self.sound.playWave(
'/home/saunter/rosbuild_ws/saunter/saunter_interaction/speech/data/DanceSong.wav'
)
self.robot.do("shimmy", wait=True)
# time.sleep(4.0)
self.performedBehaviors += [data]
self.robot.do("returnToNeutral", wait=True)
rospy.Publisher("kiwi", String,
queue_size=2).publish("behavior completed")
# In ROS, nodes are uniquely named. If two nodes with the same
# node are launched, the previous one is kicked off. The
# anonymous=True flag means that rospy will choose a unique
# name for our 'listener' node so that multiple listeners can
# run simultaneously.
rospy.init_node('BehaviorServer', anonymous=True)
rospy.Subscriber("behavior_number", String, callback, queue_size=4)
self.robot = RobotManager("DB1")
self.performedBehaviors = []
self.sound = SoundClient()
import rospy, os, sys
from cordial_sound.msg import SoundRequest
from cordial_sound.libsoundplay import SoundClient
def sleep(t):
try:
rospy.sleep(t)
except:
pass
if __name__ == '__main__':
rospy.init_node('soundplay_test', anonymous=True)
soundhandle = SoundClient()
rospy.sleep(1)
soundhandle.stopAll()
print "This script will run continuously until you hit CTRL+C, testing various sound_node sound types."
print
#print 'Try to play wave files that do not exist.'
#soundhandle.playWave('17')
#soundhandle.playWave('dummy')
#print 'say'
#soundhandle.say('Hello world!')
#sleep(3)
def __init__(self,
phone_face,
delay=0.0,
phrase_file=None,
use_tts=False,
voice=None):
self._use_tts = use_tts in ['true', 'True', 'TRUE', '1']
if phrase_file and not len(phrase_file) > 0 and not use_tts:
rospy.logerr(
"CoRDial Player Error: Must specify phrase file or allow tts! Continuing without sound..."
)
self._sound = False
elif not phrase_file and not use_tts:
rospy.logerr(
"CoRDial Player Error: Must specify phrase file or allow tts! Continuing without sound..."
)
self._sound = False
# elif (not phrase_file or len(phrase_file)>0) and use_tts and (not ivona_secret_key or not ivona_access_key):
# rospy.logerr("CoRDial Player Error: Must specify ivona keys to allow tts! Continuing without sound...")
# self._sound = False
# self._use_tts=False
else:
self._sound = True
self._speech_delay_time = delay
self._phone_face = phone_face
self._phrases = None
if phrase_file and len(phrase_file) > 0:
self._sound_client = SoundClient()
rospy.sleep(0.5)
self._sound_client.stopAll()
rospy.loginfo(
"CoRDial Player reading Phrase File... this could take a while"
)
with open(phrase_file, 'r') as f:
s = f.read()
self._phrases = yaml.load(s)
rospy.loginfo("Phrase file read.")
if self._use_tts:
self._tts = CoRDialTTS(voice)
base_topic = ""
self._behavior_client = actionlib.SimpleActionClient(
base_topic + 'Behavior', BehaviorAction)
if self._phone_face:
self._face_pub = rospy.Publisher(base_topic + 'face',
FaceRequest,
queue_size=10)
rospy.sleep(0.5)
rospy.loginfo("CoRdial Player waiting for behavior server..")
self._behavior_client.wait_for_server()
rospy.loginfo("CoRDial Player connected to behavior server")
self._feedback.behavior = "none"
rospy.loginfo("Starting CoRDial Player server...")
self._server = actionlib.SimpleActionServer(base_topic + 'Player',
PlayerAction,
execute_cb=self.execute_cb,
auto_start=False)
info = ""
if self._phone_face:
info += ", using CoRDial face"
else:
info += ", NOT using CoRDial face"
if self._use_tts:
info += " and using TTS with voice " + voice
elif self._phrases:
info += " and NOT using TTS"
if self._phrases:
info += "; phrase file is " + phrase_file
if not self._use_tts and not self._phrases:
info += " and with NO sound"
info += ". Delay time is " + str(self._speech_delay_time) + "s."
self._server.start()
rospy.loginfo("CoRDial Player server started" + info)
