TMR 2024 developments (#41)

Developments for TMR

.gitignore

@@ -2,3 +2,4 @@ build
 devel
 terminator-config
 .catkin_workspace
+__pycache__

.gitmodules

@@ -10,3 +10,6 @@
 [submodule "navigation"]
 	path = navigation
 	url = https://github.com/RoBorregos/home-navigation.git
+[submodule "ws/src/interfaces"]
+	path = ws/src/interfaces
+	url = https://github.com/RoBorregos/home-interfaces

README.md

@@ -2,7 +2,7 @@
 
 Current development of [RoBorregos](www.roborregos.com), for the RoboCup @HOME competition, in the Open League Platform (OPL). The goal is to built a service robot capable of accomplishing tasks in domestic applications. The software areas being developed are: Human-Robot Interaction and Cooperation, Object Manipulation, Computer Vision, and Navigation and Mapping.
 
-This repository features the `main_engine` package, in charge of managing Behavior Integration with all the areas.
+This repository features the `task_manager` package, in charge of managing Behavior Integration with all the areas.
 For more information on the project, check our [documentation](https://docs.rbrgs.com/home/).
 
 ## Setup
@@ -71,6 +71,26 @@ make main.remove
 ```
 
 Additional commands can be added within the Makefile and the scripts inside the `docker/scripts` folder can help for easier integration and sharing. These include a build script to run the dockerfile and create a new image and a run script to create containers from it. Any additional dependency or system/environment configuration should be added to these scripts.
+
+## Task manager
+
+The `frida_task_manager` is the central package in charge of processing the command information and directing the tasks with its respective area. For code readability, each area development its inside a Python module `area_tasks.py`, and they are called by `task_manager_server.py`, the script were the ROS node is created.
+
+At the top of this mentioned file, there are four constants to enable or disable the tasks, you can change any of these to `False` is for the current test there is no need of an area:
+```python
+NAV_ENABLED = True 
+MANIPULATION_ENABLED = True
+CONVERSATION_ENABLED = True 
+VISION_ENABLED = False
+```
+
+For executing the `task_manager`, follow the above steps of [Docker setup](#Docker%20Development). Inside the `bash` terminal, setup the ROS network and execute the node:
+```bash
+export ROS_MASTER_URI=http://192.168.31.23:11311 # IP of the ROS Master (if master is in another machine)
+export ROS_IP=192.168.31.97 # IP of own machine
+rosrun frida_task_manager task_manager_server.py
+```
+
 ## Team Members
 
 | Name                    | Github                                                       | Role      |
@@ -84,6 +104,6 @@ Additional commands can be added within the Makefile and the scripts inside the
 | Marina Villanueva | [@mariinaVillanueva](https://github.com/mariinaVillanueva) | HRI |
 | David Vázquez | [@Deivideich](https://github.com/Deivideich) | Electronics, Navigation & Manipulation | 
 | Diego Hernández | [@Diego-HC](https://github.com/Diego-HC) | Navigation |
-| Franciso Salas | [@Francisco-SP3](http://github.com/Francisco-SP3) | HRI |
+| Franciso Salas | [@Francisco-SP3](http://github.com/Francisco-SP3) | HRI, Navigation |
 | Leonardo Sánchez | [@LeoLFSH](https://github.com/LeoLFSH) | Mechanics |
-| Alex Guerrero | [@]() | Mechanics |
+| Alex Guerrero | [@alex-guerreroc](https://github.com/alex-guerreroc) | Mechanics |

compose.yaml

@@ -0,0 +1,39 @@
+version: '2.25'
+
+services:
+  rosmaster:
+    build:
+      context: .
+      dockerfile: docker/Dockerfile.main
+    container_name: rosmaster
+    hostname: rosmaster
+    networks:
+      - rosdocker
+    ports:
+      - "11311:11311"
+    command: roscore
+
+  main:
+    build:
+      context: .
+      dockerfile: docker/Dockerfile.main
+    container_name: task_manager
+    hostname: task_manager
+    volumes:
+      - ./ws:/workspace
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - /var/run/docker.sock:/var/run/docker.sock
+      - /dev:/dev
+    networks:
+      - rosdocker
+    privileged: true
+    devices:
+      - /dev/video0:/dev/video0
+    environment:
+      - "ROS_HOSTNAME=task_manager"
+      - "ROS_MASTER_URI=http://rosmaster:11311"
+      - DISPLAY=${DISPLAY}
+      - LOCAL_USER_ID=id -u ${USER}
+      - LOCAL_GROUP_ID=id -g ${USER}
+      - LOCAL_GROUP_NAME=id -gn ${USER}
+    command: bash -c "source /ws/devel/setup.bash && rosrun frida_task_manager receptionist_task_manager.py"

docker/Dockerfile.main

@@ -5,7 +5,10 @@ RUN apt-get update -qq && apt-get install -y  build-essential \
     ffmpeg libsm6 libxext6 autoconf libtool mesa-utils \
     terminator nano git wget curl iputils-ping \
     libcanberra-gtk-module libcanberra-gtk3-module \
-    ros-dev-tools 
+    ros-dev-tools \
+    ros-noetic-move-base-msgs \
+    ros-noetic-audio-common-msgs
+
 
 RUN apt-get update && apt-get install -y ros-noetic-rqt ros-noetic-rqt-common-plugins
 

docker/scripts/run.bash

@@ -95,6 +95,7 @@ echo "Building docker image: $IMAGE_NAME"
 echo "Container name: $CONTAINER_NAME"
 echo "Volumes to mount: $VOLUME_COMMANDS"
 
+#DOCKER_SPEECH_ARGS="-v /tmp/pulseaudio.socket:/tmp/pulseaudio.socket -v /tmp/pulseaudio.client.conf:/etc/pulse/client.conf --device /dev/snd:/dev/snd"
 DOCKER_COMMAND="docker run"
 
 xhost +

docker/scripts/speech.bash

@@ -0,0 +1,18 @@
+# Create pulse audio socket to share with docker container
+
+# Ref: https://github.com/mviereck/x11docker/wiki/Container-sound:-ALSA-or-Pulseaudio
+
+# Remove files if they exist
+sudo rm -rf /tmp/pulseaudio.socket
+sudo rm -rf /tmp/pulseaudio.client.conf
+
+# Create pulseaudio socket.
+pactl load-module module-native-protocol-unix socket=/tmp/pulseaudio.socket
+
+# Create pulseaudio clients config.
+echo 'default-server = unix:/tmp/pulseaudio.socket
+# Prevent a server running in the container
+autospawn = yes
+daemon-binary = /bin/true
+# Prevent the use of shared memory
+enable-shm = false' > /tmp/pulseaudio.client.conf

ws/src/frida_task_manager/CMakeLists.txt

@@ -0,0 +1,50 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(frida_task_manager)
+
+find_package(catkin REQUIRED COMPONENTS
+  actionlib
+  geometry_msgs
+  roscpp
+  rospy
+  std_msgs
+  move_base_msgs
+)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   geometry_msgs#   std_msgs
+# )
+
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES frida_task_manager
+#  CATKIN_DEPENDS actionlib geometry_msgs roscpp rospy std_msgs
+#  DEPENDS system_lib
+)
+
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)

ws/src/frida_task_manager/package.xml

@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>frida_task_manager</name>
+  <version>0.0.0</version>
+  <description>The frida_task_manager package</description>
+
+  <maintainer email="[email protected]">rbrgs</maintainer>
+
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>actionlib</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>move_base_msgs</build_depend>
+  <build_export_depend>actionlib</build_export_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>move_base_msgs</build_export_depend>
+  <exec_depend>actionlib</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>move_base_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>