Merge branch 'master' into respeaker

.github/workflows/config.yml

@@ -20,12 +20,13 @@ jobs:
             ROS_PARALLEL_TEST_JOBS: "-j8"
             CATKIN_PARALLEL_JOBS: "-i"
             NOT_TEST_INSTALL : true
-            BEFORE_SCRIPT : "for name in dialogflow_task_executive ros_speech_recognition sesame_ros ffha libsiftfast nlopt julius julius_ros downward assimp_devel; do echo \\$name; find $GITHUB_WORKSPACE -iname \\$name -exec touch {}/CATKIN_IGNORE \\; ; ls -al \\$(find -iname \\$name)/; done" # Skip large packagses /  Skip packages that could not build on indigo dialogflow_task_executive/ros_speech_recognition/sesame_ros
+            BEFORE_SCRIPT : "for name in dialogflow_task_executive ros_speech_recognition sesame_ros respeaker_ros ffha libsiftfast nlopt julius julius_ros downward assimp_devel google_chat_ros; do echo \\$name; find $GITHUB_WORKSPACE -iname \\$name -exec touch {}/CATKIN_IGNORE \\; ; ls -al \\$(find -iname \\$name)/; done" # Skip large packagses /  Skip packages that could not build on indigo dialogflow_task_executive/ros_speech_recognition/sesame_ros/respeaker_ros
           - ROS_DISTRO: kinetic
             CONTAINER: ubuntu:16.04
             ROS_PARALLEL_TEST_JOBS: "-j8"
             CATKIN_PARALLEL_JOBS: "-i"
             EXTRA_DEB : "python-lxml"
+            BEFORE_SCRIPT : "sudo add-apt-repository -y ppa:jblgf0/python; sudo apt-get update; sudo apt-get install -y python3.6 python3.6-venv libpython3.6-dev; sudo ln -sf python3.6 /usr/bin/python3; ls -al  /usr/bin/python3; python3 --version; python3 -v -m venv /tmp/v"
           - ROS_DISTRO: melodic
             CONTAINER: ubuntu:18.04
             ROS_PARALLEL_TEST_JOBS: "-j8"
@@ -64,8 +65,8 @@ jobs:
              git config --global --add safe.directory $GITHUB_WORKSPACE
           fi
 
-      - name: Chcekout
-        uses: actions/checkout@v2
+      - name: Checkout
+        uses: actions/checkout@v3.0.2
 
       - name: Start X server
         run: |
@@ -83,7 +84,8 @@ jobs:
       - name: Run jsk_travis
         uses: jsk-ros-pkg/jsk_travis@master
         with:
-          ROS_PARALLEL_JOBS : ${{ matrix.ROS_PARALLEL_JOBS }}
+          # darty hack, jsk_travis runs catkin build --make-args $ROS_PARALLEL_JOBS --
+          ROS_PARALLEL_JOBS : ${{ matrix.ROS_PARALLEL_JOBS }} LANG=C.UTF-8 LC_ALL=C.UTF-8
           CATKIN_PARALLEL_JOBS : ${{ matrix.CATKIN_PARALLEL_JOBS }}
           ROS_PARALLEL_TEST_JOBS : ${{ matrix.ROS_PARALLEL_TEST_JOBS }}
           CATKIN_PARALLEL_TEST_JOBS : ${{ matrix.CATKIN_PARALLEL_TEST_JOBS }}
@@ -94,6 +96,7 @@ jobs:
           BEFORE_SCRIPT : ${{ matrix.BEFORE_SCRIPT }}
           EXTRA_DEB : ${{ matrix.EXTRA_DEB }}
 
+
   kinetic_i386:
     runs-on: ubuntu-latest
     name: kinetic_i386
@@ -102,7 +105,7 @@ jobs:
     steps:
       - name: Install latest git ( use sudo for ros-ubuntu )
         run: apt-get update && apt-get install -y software-properties-common && apt-get update && add-apt-repository -y ppa:git-core/ppa && apt-get update && apt-get install -y git
-      - name: Chcekout
+      - name: Checkout
         run: |
           git config --global --add safe.directory $GITHUB_WORKSPACE
           git clone --depth=1 $GITHUB_SERVER_URL/$GITHUB_REPOSITORY $GITHUB_WORKSPACE
@@ -114,11 +117,13 @@ jobs:
         with:
           EXTRA_DEB : "python-lxml"
           ROS_DISTRO : kinetic
+          ROS_PARALLEL_JOBS : "LANG=C.UTF-8 LC_ALL=C.UTF-8"
           ROS_PARALLEL_TEST_JOBS : "-j8"
           CATKIN_PARALLEL_JOBS: "-i"
           ROSDEP_ADDITIONAL_OPTIONS : "-n -q -r --ignore-src --skip-keys=python-google-cloud-texttospeech-pip --skip-keys=python-dialogflow-pip"  # Skip installation of grpcio by pip because it causes error
           # https://github.com/jsk-ros-pkg/jsk_3rdparty/pull/237 : (Note that pip==21.0.1 is incompatible with python 2.x)
-          BEFORE_SCRIPT : "sudo pip install virtualenv==15.1.0"
+          BEFORE_SCRIPT : "sudo pip install virtualenv==15.1.0; sudo add-apt-repository -y ppa:jblgf0/python; sudo apt-get update; sudo apt-get install -y python3.6 python3.6-venv libpython3.6-dev; sudo ln -sf python3.6 /usr/bin/python3"
+
 
   arm:
     runs-on: ubuntu-latest
@@ -137,7 +142,7 @@ jobs:
           submodules: 'true'
       - name: Skip packagse
         run: |
-          for name in ffha libsiftfast nlopt julius julius_ros downward assimp_devel; do echo $name; find -iname $name -exec touch {}/CATKIN_IGNORE \; ; ls -al $(find -iname $name)/; done
+          for name in ffha libsiftfast nlopt julius julius_ros downward assimp_devel google_chat_ros; do echo $name; find -iname $name -exec touch {}/CATKIN_IGNORE \; ; ls -al $(find -iname $name)/; done
       - uses: uraimo/run-on-arch-action@v2
         name: Run commands
         with:
@@ -156,5 +161,6 @@ jobs:
             export USE_TRAVIS=true
             export USE_DOCKER=false
             export NOT_TEST_INSTALL=true
+            export ROS_PARALLEL_JOBS="--make-args LANG=C.UTF-8 LC_ALL=C.UTF-8"
             set +o nounset
             source .travis/travis.sh

dialogflow_task_executive/node_scripts/dialogflow_client.py

@@ -6,8 +6,13 @@
 from google.oauth2.service_account import Credentials
 from google.protobuf.json_format import MessageToJson
 import pprint
-import Queue
+try:
+    import Queue
+except ImportError:
+    import queue as Queue
+import os
 import rospy
+import sys
 import threading
 import uuid
 
@@ -102,7 +107,7 @@ def make_dialog_msg(self, result):
             rospy.logwarn("Unknown action")
         msg.action = result.action
 
-        if self.language == 'ja-JP':
+        if self.language == 'ja-JP' and os.environ["ROS_PYTHON_VERSION"] == "2":
             msg.query = result.query_text.encode("utf-8")
             msg.response = result.fulfillment_text.encode("utf-8")
         else:
@@ -172,8 +177,11 @@ def __init__(self):
         # hotwords
         self.enable_hotword = rospy.get_param("~enable_hotword", True)
         hotwords = rospy.get_param("~hotword", [])
-        self.hotwords = [ hotword.encode('utf-8') if isinstance(hotword, unicode ) else hotword
-                            for hotword in hotwords ]
+        try:
+            self.hotwords = [ hotword.encode('utf-8') if isinstance(hotword, unicode ) else hotword
+                              for hotword in hotwords ]
+        except NameError:
+            self.hotwords = hotwords
 
         self.state = State()
         self.queue = Queue.Queue()
@@ -260,11 +268,12 @@ def speak_result(self, result):
             volume=self.volume)
 
         # for japanese or utf-8 languages
-        if self.language == 'ja-JP':
+        if self.language == 'ja-JP' and sys.version <= 2:
             msg.arg = result.fulfillment_text.encode('utf-8')
-            msg.arg2 = self.language
         else:
             msg.arg = result.fulfillment_text
+        if self.language == 'ja-JP':
+            msg.arg2 = self.language
 
         self.sound_action.send_goal_and_wait(
             SoundRequestGoal(sound_request=msg),

dialogflow_task_executive/package.xml

@@ -19,12 +19,12 @@
   <build_depend>catkin_virtualenv</build_depend>
   <build_depend>message_generation</build_depend>
   <build_depend>std_msgs</build_depend>
+  <build_depend>roslaunch</build_depend>
   <run_depend>app_manager</run_depend>
   <run_depend>message_runtime</run_depend>
   <run_depend>speech_recognition_msgs</run_depend>
   <run_depend>topic_tools</run_depend>
   <!-- <run_depend>python-dialogflow-pip</run_depend> install via catkin_virtualenv -->
-  <test_depend>roslaunch</test_depend>
 
   <export>
     <pip_requirements>requirements.txt</pip_requirements>

dialogflow_task_executive/requirements.in.noetic

@@ -1,4 +1,5 @@
 dialogflow==1.1.1
 google-api-core[grpc]==1.33.0
 grpcio-status==1.48.1
+googleapis-common-protos[grpc]==1.56.2
 protobuf==3.20.1  # fix Could not find a version that matches protobuf<4.0.0dev,<5.0.0dev,>=3.15.0,>=3.20.1,>=4.21.3 (from google-api-core[grpc]==1.33.1->dialogflow==1.1.1->-r requirements.in (line 1))

google_chat_ros/.gitignore

@@ -0,0 +1 @@
+requirements.txt

google_chat_ros/CMakeLists.txt

@@ -0,0 +1,73 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(google_chat_ros)
+
+find_package(
+  catkin REQUIRED COMPONENTS
+  catkin_virtualenv REQUIRED
+  rospy
+  actionlib_msgs
+  std_msgs
+  message_generation
+  )
+
+catkin_python_setup()
+
+add_message_files(
+  DIRECTORY msg
+  )
+
+add_action_files(
+  FILES
+  SendMessage.action
+  )
+
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+  actionlib_msgs
+  )
+
+catkin_package()
+
+# generate the virtualenv
+catkin_generate_virtualenv(
+  INPUT_REQUIREMENTS requirements.in
+  PYTHON_INTERPRETER python3
+  USE_SYSTEM_PACKAGES FALSE
+  CHECK_VENV FALSE
+  )
+
+# install
+# euslisp
+file(GLOB EUSLISP_SCRIPTS scripts/*.l)
+install(FILES ${EUSLISP_SCRIPTS}
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+
+# python
+file(GLOB PYTHON_SCRIPTS scripts/*.py)
+catkin_install_python(
+  PROGRAMS ${PYTHON_SCRIPTS}
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+# python requirements
+install(FILES requirements.txt
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  )
+
+# launch
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  )
+
+# import test
+if(CATKIN_ENABLE_TESTING)
+  find_package(catkin REQUIRED COMPONENTS catkin_virtualenv rostest)
+  catkin_install_python(
+    PROGRAMS test/test_import.py
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+    )
+  add_rostest(test/import.test
+    DEPENDENCIES ${PROJECT_NAME}_generate_virtualenv
+    )
+endif()