[Receptionist Code clean up]

demos/pycram_receptionist_demo/M2_Demo.py

@@ -45,7 +45,9 @@
 
 
 def demo_ms2(area):
+
     with real_robot:
+
         # declare variables for humans
         host = HumanDescription("Yannis", fav_drink="Tea")
         guest1 = HumanDescription("guest1")
@@ -58,23 +60,20 @@ def demo_ms2(area):
         # look at guest and introduce
         giskardpy.move_head_to_human()
         TalkingMotion("Hello, i am Toya and my favorite drink is oil. What about you, talk to me?").resolve().perform()
-
         rospy.sleep(1)
 
         # signal to start listening
         pub_nlp.publish("start listening")
 
-        #wait for human to say something
-        rospy.sleep(13)
+        # wait for human to say something
+        rospy.sleep(15)
 
-        # guest_data format is = ["name", "drink"]
+        # guest_data format is = ['person infos: "name', 'drink"']
         guest_data = get_guest_info("1.0")
-        print("guest data: " + str(guest_data))
         while guest_data == ['person_infos: "No name saved under this ID!"']:
             talk_error("no name")
             rospy.sleep(13)
             guest_data = get_guest_info("1.0")
-            print("guest data: " + str(guest_data))
 
         # set heard name and drink of guest
         guest1.set_name(guest_data[0][13:])
@@ -98,12 +97,10 @@ def demo_ms2(area):
             rospy.sleep(5)
             NavigateAction([pose_kitchen_to_couch]).resolve().perform()
             NavigateAction([pose_couch]).resolve().perform()
-            rospy.sleep(2)
             TalkingMotion("Welcome to the living room").resolve().perform()
             rospy.sleep(1)
         elif area == 'from_couch':
             rospy.loginfo("Navigating now")
-            TalkingMotion("navigating to kitchen, please step away").resolve().perform()
             rospy.sleep(5)
             NavigateAction([pose_from_couch]).resolve().perform()
             NavigateAction([pose_home]).resolve().perform()
@@ -112,18 +109,7 @@ def demo_ms2(area):
             TalkingMotion("not navigating").resolve().perform()
             rospy.sleep(1)
 
-
         introduce(guest1.name, guest1.fav_drink, host.name, host.fav_drink)
-        #TalkingMotion("End of demo").resolve().perform()
-
-
-def nav_test():
-    with real_robot:
-        robot_orientation = axis_angle_to_quaternion([0, 0, 1], 90)
-        test_pose1 = Pose([4.2, 3, 0], robot_orientation)
-        test_pose = Pose([3, 5, 0], [0, 0, 0, 1])
-        moveBase.queryPoseNav(test_pose1)
-        moveBase.queryPoseNav(test_pose)
 
 
 # demo_test('from_couch')

demos/pycram_receptionist_demo/School_Demo.py

@@ -1,6 +1,6 @@
 from pycram.designators.action_designator import DetectAction, NavigateAction
 from pycram.designators.motion_designator import TalkingMotion
-# from demos.pycram_receptionist_demo.utils.misc import *
+from demos.pycram_receptionist_demo.utils.misc import *
 from pycram.helper import axis_angle_to_quaternion
 from pycram.process_module import real_robot
 import pycram.external_interfaces.giskard as giskardpy
@@ -42,7 +42,7 @@
 data_received = False
 
 
-def talk_request(data: String):
+def talk_request_school(data: String):
     """
     callback function that takes the data from nlp (name and drink) and lets the robot talk
     :param data: String "name drink"
@@ -55,30 +55,19 @@ def talk_request(data: String):
     data_received = True
 
 
-def talk_error(data):
-    """
-    callback function if no name/drink was heard
-    """
-
-    error_msgs = "i could not hear you, please repeat"
-    TalkingMotion(error_msgs).resolve().perform()
-    pub_nlp.publish("start listening")
-
-
 def demo_test(area):
     with real_robot:
         global data_received
         data_received = False
         print("start demo")
 
+        # look for human
         DetectAction(technique='human', state='start').resolve().perform()
-
         rospy.loginfo("human detected")
 
         # look at guest and introduction
         giskardpy.move_head_to_human()
         TalkingMotion("Hello, i am Toya and my favorite drink is oil. What about you, talk to me?").resolve().perform()
-
         rospy.sleep(1)
 
         # signal to start listening
@@ -90,7 +79,7 @@ def demo_test(area):
         # get name and drink
         rospy.Subscriber("nlp_feedback", Bool, talk_error)
 
-        rospy.Subscriber("nlp_out", String, talk_request)
+        rospy.Subscriber("nlp_out", String, talk_request_school)
 
         while not data_received:
             rospy.sleep(0.5)
@@ -119,28 +108,20 @@ def demo_test(area):
             rospy.sleep(1)
             TalkingMotion("Welcome to the living room").resolve().perform()
             TalkingMotion("take a seat").resolve().perform()
+
         elif area == 'from_couch':
             rospy.loginfo("Navigating now")
             rospy.sleep(3)
             NavigateAction([pose_from_couch]).resolve().perform()
             NavigateAction([pose_home]).resolve().perform()
+
         else:
-            rospy.loginfo("in else")
             TalkingMotion("not navigating").resolve().perform()
             rospy.sleep(3)
             print("end")
 
         TalkingMotion("End of demo").resolve().perform()
 
 
-def nav_test():
-    with real_robot:
-        robot_orientation = axis_angle_to_quaternion([0, 0, 1], 90)
-        test_pose1 = Pose([4.2, 3, 0], robot_orientation)
-        test_pose = Pose([3, 5, 0], [0, 0, 0, 1])
-        moveBase.queryPoseNav(test_pose1)
-        moveBase.queryPoseNav(test_pose)
-
-
 # demo_test('from_couch')
 demo_test('to_couch')

demos/pycram_receptionist_demo/tests/connection_knowledge.py

@@ -58,7 +58,7 @@ def demo_test():
         pub_nlp.publish("start listening")
         rospy.sleep(5)
         #asyncron??
-        # TODO: test on real HSR
+
         guest_data = get_guest_info("3.0")
         print("guest data: " + str(guest_data))
         while guest_data == "No name saved under this ID!":

demos/pycram_receptionist_demo/tests/nlp_planning.py

@@ -3,7 +3,7 @@
 from pycram.designators.action_designator import DetectAction, NavigateAction
 from pycram.designators.motion_designator import TalkingMotion
 from pycram.fluent import Fluent
-#from demos.pycram_receptionist_demo.utils.misc import *
+from demos.pycram_receptionist_demo.utils.misc import *
 from pycram.helper import axis_angle_to_quaternion
 from pycram.process_module import real_robot
 import pycram.external_interfaces.giskard as giskardpy
@@ -32,27 +32,6 @@
 
 pub_nlp = rospy.Publisher('/startListener', String, queue_size=10)
 
-def talk_error(data):
-    """
-    callback function if no name/drink was heard
-    """
-    rospy.loginfo(data)
-    rospy.loginfo("in callback error")
-    error_msgs = "i could not hear you, please repeat"
-    TalkingMotion(error_msgs).resolve().perform()
-    rospy.sleep(3)
-    pub_nlp.publish("start listening")
-
-def talk_request(data: String):
-    """
-    callback function that takes the data from nlp (name and drink) and lets the robot talk
-    :param data: String "name drink"
-    """
-    rospy.loginfo("in callback success")
-    name_drink = data.data.split(" ")
-    talk_actions.name_drink_talker(name_drink)
-    rospy.loginfo("nlp data:" + name_drink[0] + " " + name_drink[1])
-
 
 def test():
     with real_robot:
@@ -71,10 +50,10 @@ def test():
         rospy.Subscriber("nlp_feedback", Bool, talk_error)
 
         # receives name and drink via topic
-        rospy.Subscriber("nlp_out", String, talk_request)
+        rospy.Subscriber("nlp_out", String, talk_request_nlp)
 
         while True:
-            print("HEllo")
+            print("Hello")
 
 
 if __name__ == '__main__':

demos/pycram_receptionist_demo/tests/perception_humans.py

@@ -26,30 +26,14 @@
 # carefull that u spawn the correct kitchen
 kitchen = Object("kitchen", "environment", "kitchen.urdf")
 giskardpy.init_giskard_interface()
-#RobotStateUpdater("/tf", "/giskard_joint_states")
+
+
 
 def test():
     with real_robot:
-        guest1 = HumanDescription("x")
-       # print("...................... nothing" )
-        guest1.human_pose.set_value(False)
-        if not guest1.human_pose.get_value():
-            print("wrong? " + str(guest1.human_pose))
 
-        if guest1.human_pose.get_value():
-            print("right? " + str(guest1.human_pose))
-
-        print("----------------------------------")
         DetectAction(technique='human', state='start').resolve().perform()
 
-        if not guest1.human_pose.get_value():
-            print("wrong? " + str(guest1.human_pose))
-
-        if guest1.human_pose.get_value():
-            print("right? " + str(guest1.human_pose))
-
-
-
         rospy.loginfo("human detected")
 
         print("---------- " + "start")
@@ -67,13 +51,5 @@ def test():
         print("end")
 
 
-
-
-
-
-
-
-
-
 if __name__ == '__main__':
-    test()
+    test()