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Recover dubbelfris #261

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00bcbe0
Documentation - adding in how to run the receptionist task
zoe013evans Apr 29, 2024
1c6becd
robustifying receptionist
May 14, 2024
0c3b2a8
adding fixes to state machine
May 28, 2024
4d34852
fixing conflict
May 28, 2024
6a38d09
Merge remote-tracking branch 'zoe-fork/main' into main
May 28, 2024
fd37557
Make receptionist more robust:
May 30, 2024
e782f02
Resolve merge conflicts
haiwei-luo Jun 24, 2024
6425a57
Resolve github flags
haiwei-luo Jun 24, 2024
d36a96f
Minor resolution
haiwei-luo Jun 24, 2024
ae06cd2
Minor fix
haiwei-luo Jun 24, 2024
a20681f
Merge branch 'LASR-at-Home:main' into main
haiwei-luo Jun 24, 2024
a24320e
Merging
haiwei-luo Jun 24, 2024
182b72a
Fix introduce guest
haiwei-luo Jun 24, 2024
e14e535
Merge branch 'LASR-at-Home:main' into main
haiwei-luo Jun 24, 2024
b612ed9
Adapt
haiwei-luo Jun 24, 2024
205897e
Merge branch 'main' of github.com:haiwei-luo/Base into main
haiwei-luo Jun 24, 2024
6eed3d9
Catch if attributes detection fail in main state machine
haiwei-luo Jun 26, 2024
97a0277
Remove learning face for guest2
haiwei-luo Jun 26, 2024
f2ba060
Identify look at person bug and reformatting
haiwei-luo Jun 26, 2024
4cf1a84
Handling no empty seat and no detection
haiwei-luo Jun 26, 2024
683636f
Add flag to indicate no detections
haiwei-luo Jun 26, 2024
b3e889a
Fix bugs
haiwei-luo Jun 26, 2024
94c8dc2
More spoken strings use informative
haiwei-luo Jun 27, 2024
3ee7a6c
Resolve move_base failure
haiwei-luo Jun 27, 2024
97321e9
Reformat
haiwei-luo Jun 27, 2024
32d08aa
Handle failure of learning faces
haiwei-luo Jun 27, 2024
60b30e3
reformat
haiwei-luo Jun 27, 2024
825419c
Respond to requested change on PR
haiwei-luo Jun 28, 2024
2f4beb0
Minor change
haiwei-luo Jun 28, 2024
9a21e67
Resolve conflict
haiwei-luo Jun 28, 2024
0d2de26
Resolve merge conflicts
haiwei-luo Jul 8, 2024
abc57b3
Resolve merge conflicts
haiwei-luo Jul 8, 2024
a90b53c
Add yaml files and fix bugs
haiwei-luo Jul 8, 2024
0c9215a
Reformat with black
haiwei-luo Jul 8, 2024
8b5162c
Remove dining area yaml
haiwei-luo Jul 8, 2024
d58fc12
Fix bug
haiwei-luo Jul 9, 2024
23ffe4d
Remove tiago's waffle!
haiwei-luo Jul 9, 2024
13c8060
Format
haiwei-luo Jul 9, 2024
5e09c27
Merge branch 'main' of github.com:haiwei-luo/Base into main
haiwei-luo Jul 9, 2024
7c926af
Fix slowness by removing sleep
haiwei-luo Jul 9, 2024
f41d022
Format by Jared's request
haiwei-luo Jul 9, 2024
b69529c
Merge branch 'main' of github.com:haiwei-luo/Base into main
haiwei-luo Jul 15, 2024
e32aad2
Setup speechand yaml for receptionist in Robocup
haiwei-luo Jul 15, 2024
9e0ac88
Fix commas in speech recovery
haiwei-luo Jul 15, 2024
eb5c904
Merge branch 'main' of github.com:haiwei-luo/Base into main
haiwei-luo Jul 15, 2024
9ec5045
Fix features!
haiwei-luo Jul 15, 2024
3af1dc8
Reformat with black on the rexy laptop even though the leg tracker fa…
haiwei-luo Jul 15, 2024
546c140
Fix dubbelfris catch
haiwei-luo Jul 15, 2024
061a35b
Make recover dubbelfris a function
haiwei-luo Jul 16, 2024
0ac484b
Uncomment
haiwei-luo Jul 16, 2024
c970afd
Reformat
haiwei-luo Jul 16, 2024
ba5c155
yaml fix
haiwei-luo Jul 17, 2024
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Resolve github flags
haiwei-luo committed Jun 24, 2024
commit 6425a578b7987eeee3dbfe35de78928ff31c3e5a
4 changes: 0 additions & 4 deletions skills/src/lasr_skills/__init__.py
Original file line number Diff line number Diff line change
@@ -19,10 +19,6 @@
from .clip_vqa import QueryImage
from .detect_faces import DetectFaces
from .recognise import Recognise
<<<<<<< HEAD
#from .detect_pointing import DetectPointingDirection
=======
>>>>>>> 5026ebfb0cc02564e84da9d05b79c6aa6d85b8f3
from .detect_gesture import DetectGesture
from .learn_face import LearnFace
from .look_at_person import LookAtPerson
47 changes: 0 additions & 47 deletions skills/src/lasr_skills/look_to_point.py
Original file line number Diff line number Diff line change
@@ -8,30 +8,6 @@
from actionlib_msgs.msg import GoalStatus


<<<<<<< HEAD
# class LookToPoint(smach_ros.SimpleActionState):
# def __init__(self):
# super(LookToPoint, self).__init__(
# "/head_controller/point_head_action",
# PointHeadAction,
# goal_cb=lambda ud, _: PointHeadGoal(
# pointing_frame="head_2_link",
# pointing_axis=Point(1.0, 0.0, 0.0),
# max_velocity=1.0,
# target=PointStamped(
# header=Header(frame_id="map"),
# point=ud.point,
# ),
# ),
# input_keys=["point"],
# )

class LookToPoint(smach.State):
def __init__(self):
smach.State.__init__(self, outcomes=['succeeded', 'aborted', 'preempted', 'timed_out'],
input_keys=['point'])
self.client = actionlib.SimpleActionClient('/head_controller/point_head_action', PointHeadAction)
=======
class LookToPoint(smach.State):
def __init__(self):
smach.State.__init__(
@@ -42,7 +18,6 @@ def __init__(self):
self.client = actionlib.SimpleActionClient(
"/head_controller/point_head_action", PointHeadAction
)
>>>>>>> 5026ebfb0cc02564e84da9d05b79c6aa6d85b8f3
self.client.wait_for_server()

def execute(self, userdata):
@@ -53,27 +28,6 @@ def execute(self, userdata):
max_velocity=1.0,
target=PointStamped(
header=Header(frame_id="map"),
<<<<<<< HEAD
point=userdata.point,
),
)

# Send the goal
self.client.send_goal(goal)

# Wait for the result with a timeout of 7 seconds
finished_within_time = self.client.wait_for_result(rospy.Duration(7.0))

if finished_within_time:
result = self.client.get_result()
if result:
return 'succeeded'
else:
return 'aborted'
else:
self.client.cancel_goal()
return 'timed_out'
=======
point=userdata.pointstamped.point,
),
)
@@ -93,4 +47,3 @@ def execute(self, userdata):
else:
self.client.cancel_goal()
return "timed_out"
>>>>>>> 5026ebfb0cc02564e84da9d05b79c6aa6d85b8f3
5 changes: 0 additions & 5 deletions tasks/receptionist/launch/setup.launch
Original file line number Diff line number Diff line change
@@ -8,12 +8,7 @@
<node pkg="lasr_speech_recognition_whisper" type="transcribe_microphone_server" name="transcribe_speech" output="screen" args="--mic_device $(arg whisper_device_param)"/>

<!-- STATIC POINTS -->
<<<<<<< HEAD
<!--<rosparam command="load" file="$(find receptionist)/config/$(arg config).yaml" />-->
<rosparam command="load" file="$(find receptionist)/config/lab.yaml"/>
=======
<rosparam command="load" file="$(find receptionist)/config/$(arg config).yaml" ns="receptionist" />
>>>>>>> 5026ebfb0cc02564e84da9d05b79c6aa6d85b8f3

<!-- MOTIONS -->
<rosparam command="load" file="$(find lasr_skills)/config/motions.yaml"/>
24 changes: 0 additions & 24 deletions tasks/receptionist/scripts/main.py
Original file line number Diff line number Diff line change
@@ -1,56 +1,36 @@
#!/usr/bin/env python3
import rospy
from receptionist.state_machine import Receptionist
<<<<<<< HEAD
import smach
=======
import smach
>>>>>>> 5026ebfb0cc02564e84da9d05b79c6aa6d85b8f3
import smach_ros

from geometry_msgs.msg import Pose, Point, Quaternion
from shapely.geometry import Polygon

if __name__ == "__main__":
rospy.init_node("receptionist_robocup")
<<<<<<< HEAD
# wait_pose_param = rospy.get_param("/receptionist/wait_pose")
wait_pose_param = rospy.get_param("/wait_pose/")
=======
wait_pose_param = rospy.get_param("/receptionist/wait_pose")
# wait_pose_param = rospy.get_param("/wait_pose/")
>>>>>>> 5026ebfb0cc02564e84da9d05b79c6aa6d85b8f3

wait_pose = Pose(
position=Point(**wait_pose_param["position"]),
orientation=Quaternion(**wait_pose_param["orientation"]),
)

<<<<<<< HEAD
wait_area_param = rospy.get_param("/wait_area")
wait_area = Polygon(wait_area_param)

seat_pose_param = rospy.get_param("/seat_pose")
=======
# wait_area_param = rospy.get_param("/wait_area")
wait_area_param = rospy.get_param("/receptionist/wait_area")
wait_area = Polygon(wait_area_param)

# seat_pose_param = rospy.get_param("/seat_pose")
seat_pose_param = rospy.get_param("/receptionist/seat_pose")
>>>>>>> 5026ebfb0cc02564e84da9d05b79c6aa6d85b8f3
seat_pose = Pose(
position=Point(**seat_pose_param["position"]),
orientation=Quaternion(**seat_pose_param["orientation"]),
)

<<<<<<< HEAD
seat_area_param = rospy.get_param("/seat_area")
=======
# seat_area_param = rospy.get_param("/seat_area")
seat_area_param = rospy.get_param("/receptionist/seat_area")

>>>>>>> 5026ebfb0cc02564e84da9d05b79c6aa6d85b8f3
seat_area = Polygon(seat_area_param)

receptionist = Receptionist(
@@ -66,11 +46,7 @@
},
)

<<<<<<< HEAD
sis = smach_ros.IntrospectionServer('smach_server',receptionist,'/SM_ROOT')
=======
sis = smach_ros.IntrospectionServer("smach_server", receptionist, "/SM_ROOT")
>>>>>>> 5026ebfb0cc02564e84da9d05b79c6aa6d85b8f3
sis.start()
outcome = receptionist.execute()

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