Add a local speechbot service

.gitignore

@@ -122,3 +122,5 @@ harmoni_actuators/harmoni_tts/content/*
 doc/_build
 harmoni_actuators/harmoni_tts/scale_stats.npy
 harmoni_actuators/harmoni_tts/temp_data/tts.wav
+
+harmoni_actuators/harmoni_tts/TTS/

dockerfiles/harmoni/kinetic/base/dockerfile

@@ -89,6 +89,8 @@ RUN \
     google-cloud-speech==1.3.2 \
     dialogflow \
     google-api-python-client \
+    # Rasa
+    rasa==2.7.1 \
     # Local STT
     deepspeech \
     # Testing

dockerfiles/harmoni/noetic/base/dockerfile

@@ -66,6 +66,8 @@ RUN \
     google-cloud-speech==1.3.2 \
     dialogflow \
     google-api-python-client \
+    # Rasa
+    rasa==2.7.1 \
     # Local STT
     deepspeech \
     # Testing

harmoni_core/harmoni_pattern/config/configuration.yaml

@@ -23,6 +23,11 @@ mic_test:
     trigger_intent: "Hey"
     pattern_scripting: $(find harmoni_pattern)/pattern_scripting/mic_test.json
 
+chatbot:
+  default_param:
+    trigger_intent: "Hey"
+    pattern_scripting: $(find harmoni_pattern)/pattern_scripting/chatbot.json
+
 
 speak_test:
   default_param:

harmoni_core/harmoni_pattern/pattern_scripting/chatbot.json

@@ -0,0 +1,55 @@
+[
+    {
+        "set": "setup",
+        "steps": [
+            {
+                "microphone_default": {
+                    "action_goal": "ON",
+                    "resource_type": "sensor",
+                    "wait_for": ""
+                }
+            },
+            {
+                "stt_default": {
+                    "action_goal": "ON",
+                    "resource_type": "detector",
+                    "wait_for": ""
+                }
+            }
+        ]
+    },
+    {
+        "set": "loop",
+        "steps": [
+            {
+                "stt_default": {
+                    "resource_type": "detector",
+                    "wait_for": "new"
+                }
+            },
+            {
+                "bot_default": {
+                    "action_goal": "REQUEST",
+                    "resource_type": "service",
+                    "wait_for": "new"
+                }
+            },
+            {
+                "tts_default": {
+                    "action_goal": "REQUEST",
+                    "resource_type": "service",
+                    "wait_for": "new"
+                }
+            },
+            [
+                {
+                    "speaker_default": {
+                        "action_goal": "DO",
+                        "resource_type": "actuator",
+                        "wait_for": "new"
+                    }
+                }
+            ]
+        ]
+    }
+]

harmoni_dialogues/harmoni_bot/README.md

@@ -1,6 +1,16 @@
 # HARMONI Bot
 
-This package wraps different chatbot services that can be used with HARMONI. Currently we support AWS Lex and Goodle Dialogflow. Rasa is a high priority on our roadmap for local chatbot functionality.
+This package wraps different chatbot services that can be used with HARMONI. Currently we support AWS Lex, Google Dialogflow, and Rasa.
+
+### Using the Rasa service
+The default Rasa assistant is `rasa_example`. The Rasa workspace for this assistant is located in `harmoni_models/bot`, 
+and the assistant name can be set in `configuration.yaml` by changing the rasa_assistant parameter value to the name of the corresponding workspace.
+
+The start_rasa_server.sh script is called before the service is launched and gets the correct path to train and run the Rasa server through rosparam.
+The model is only trained and run if it is a valid bot within `harmoni_models/bot`. 
+
+### Adding Rasa assistants
+Custom Rasa bots must also be placed in `harmoni_models/bot` for the start_server script to find the workspace path. 
 
 ## Usage
 ## Parameters
@@ -14,6 +24,14 @@ Parameters input for the aws lex service:
 |bot_alias             |            |        |
 |region_name           |            |        |
 
+Parameters input for the Rasa service: 
+
+| Parameters           | Definition | Values |
+|----------------------|------------|--------|
+|rasa_assistant        |            |        |
+|host                  |            |        |
+|post                  |            |        |
+
 ## Testing
 ## References
 [Documentation](https://harmoni.readthedocs.io/en/latest/packages/harmoni_bot.html)

harmoni_dialogues/harmoni_bot/config/configuration.yaml

@@ -22,3 +22,9 @@ google:
     language: "en"
     session_id: "testing"
     credential_path: "$(find harmoni_bot)/config/private-keys_en.json"
+
+rasa:
+  default_param:
+    rasa_assistant: "rasa_example"
+    host: "localhost"
+    port: 5005

harmoni_dialogues/harmoni_bot/launch/bot_service.launch

@@ -1,8 +1,9 @@
 <!-- This is an example launch file for how a ROS application could use a node -->
 <launch>
 
-	<arg name="use_aws_lex" default="true"/>
+	<arg name="use_aws_lex" default="false"/>
 	<arg name="use_google" default="false"/>
+	<arg name="use_rasa" default="true"/>
 	<arg name="instance_id" default="default"/>
   	<group if="$(arg use_aws_lex)">
 			<rosparam file="$(find harmoni_bot)/config/configuration.yaml" subst_value="True"/>
@@ -14,4 +15,11 @@
 			<param name="instance_id" value="$(arg instance_id)"/>
 			<node pkg="harmoni_bot" type="google_service.py" name="harmoni_bot_google_$(arg instance_id)" output="screen"  args="$(arg instance_id)"/>
   	</group>
+  	<group if="$(arg use_rasa)">
+            <rosparam file="$(find harmoni_bot)/config/configuration.yaml" subst_value="True"/>
+            <param name="instance_id" value="$(arg instance_id)"/>
+            <param name="bot_model_dir" value="$(find harmoni_models)"/>
+            <node pkg="harmoni_bot" type="start_rasa_server.sh" name="start_rasa_server" output="screen"/>
+            <node pkg="harmoni_bot" type="rasa_service.py" name="harmoni_bot_rasa_$(arg instance_id)" output="screen" args="$(arg instance_id)"/>
+  	</group>
 </launch>

harmoni_dialogues/harmoni_bot/nodes/rasa_service.py

@@ -0,0 +1,84 @@
+#!/usr/bin/env python3
+
+# Common Imports
+import rospy
+import roslib
+
+from harmoni_common_lib.constants import State
+from harmoni_common_lib.service_server import HarmoniServiceServer
+from harmoni_common_lib.service_manager import HarmoniServiceManager
+
+# Specific Imports
+import argparse
+import os
+import rasa
+import threading
+from harmoni_common_lib.constants import DialogueNameSpace
+from harmoni_bot.rasa_client import RasaClient
+
+
+class RasaService(HarmoniServiceManager):
+    """Rasa chatbot service"""
+
+    def __init__(self, name, param):
+        """Constructor method: Initialization of variables and lex parameters + setting up"""
+        super().__init__(name)
+        """ Initialization of variables and parameters """
+        self.host = param["host"]
+        self.port = param["port"]
+
+        self.rasa_client = RasaClient(
+            self.host,
+            self.port
+        )
+
+        self.state = State.INIT
+        return
+
+    def request(self, input_text):
+        """[summary]
+
+        Args:
+            input_text (str): User request (or input text) for triggering Rasa Intent
+
+        Returns:
+            object: It contains information about the response received (bool) and response message (str)
+                response: bool
+                message: str
+        """
+        rospy.loginfo("Start the %s request" % self.name)
+        self.state = State.REQUEST
+
+        try:
+            rasa_response = self.rasa_client.get_rasa_response(input_text)
+            rospy.loginfo(f"The Rasa response is {rasa_response}")
+            self.state = State.SUCCESS
+        except Exception as e:
+            rospy.loginfo(f"Exception occurred: {e}")
+            self.state = State.FAILED
+            rasa_response = ""
+        self.response_received = True
+        self.result_msg = rasa_response
+        return {"response": self.state, "message": rasa_response}
+
+
+def main():
+    """[summary]
+    Main function for starting HarmoniRasa service
+    """
+    service_name = DialogueNameSpace.bot.name
+    instance_id = rospy.get_param("instance_id")  # "default"
+    service_id = f"{service_name}_{instance_id}"
+    try:
+        rospy.init_node(service_name, log_level=rospy.INFO)
+        params = rospy.get_param("rasa" + "/" + instance_id + "_param/")
+        s = RasaService(service_id, params)
+        service_server = HarmoniServiceServer(service_id, s)
+        service_server.start_sending_feedback()
+        rospy.spin()
+    except rospy.ROSInterruptException:
+        pass
+
+
+if __name__ == "__main__":
+    main()

harmoni_dialogues/harmoni_bot/requirements.txt

@@ -0,0 +1 @@
+rasa==2.7.1

harmoni_dialogues/harmoni_bot/scripts/start_rasa_server.sh

@@ -0,0 +1,21 @@
+#!/bin/bash
+
+shopt -s dotglob
+shopt -s nullglob
+
+RASA_ASSISTANT=$(rosparam get /rasa/default_param/rasa_assistant)
+RASA_MODEL_DIR=$(rosparam get /bot_model_dir)
+RASA_BOTS=("$RASA_MODEL_DIR/bot/"*)
+
+found=0
+for dir in "${RASA_BOTS[@]}" ; do
+    dir=$(basename "$dir")
+    [[ $dir = "$RASA_ASSISTANT" ]] && found=1
+done
+
+if [ $found == 1 ]; then
+    cd "$RASA_MODEL_DIR"/bot/"$RASA_ASSISTANT" || exit
+    rasa train && rasa run
+else
+    echo "Not a valid Rasa bot"
+fi

harmoni_dialogues/harmoni_bot/setup.py

@@ -1,12 +1,16 @@
 # ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+import os
 
 from distutils.core import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 # fetch values from package.xml
 setup_args = generate_distutils_setup(
     packages=['harmoni_bot'],
-    package_dir={'': 'src'},
+    package_dir={
+        '': 'src',
+        'harmoni_bot': os.path.join('src', 'harmoni_bot')
+    },
 )
 
 setup(**setup_args)

harmoni_dialogues/harmoni_bot/src/harmoni_bot/rasa_client.py

@@ -0,0 +1,38 @@
+#!/usr/bin/env python3
+import logging
+import requests
+
+logging.basicConfig(level=logging.INFO)
+
+
+class RasaClient:
+
+    def __init__(
+            self,
+            host="localhost",
+            port=5005
+    ):
+        self._host = host
+        self._port = port
+
+    def get_rasa_response(self, input_text):
+        headers = {
+            'Content-Type': 'application/json',
+        }
+        data = '{ "sender": "test_user", "message": "' + input_text + '", "metadata": {} }'
+        response = requests.post(f"http://{self._host}:{self._port}/webhooks/myio/webhook", headers=headers, data=data)
+        logging.info(f"Bot response: \n{response.text}\n")
+        try:
+            text = response.json()[0]["text"]
+        except IndexError:
+            logging.error("Warning: Bad index")
+            text = "I didn't catch that"
+        return text
+
+
+if __name__ == "__main__":
+    rasa_client = RasaClient()
+    r = "Let's start a conversation with the rasa bot. What would you like to say?\n->"
+    while True:
+        i = input(r)
+        r = rasa_client.get_rasa_response(i) + "\n->"

harmoni_dialogues/harmoni_bot/test/rasa.test

@@ -0,0 +1,13 @@
+<!-- This is an example launch file for how a ROS application could use a node -->
+<launch>
+	<rosparam file="$(find harmoni_bot)/config/configuration.yaml" subst_value="True"/>
+    <param name="instance_id" value="default"/>
+    <param name="name_bot" value="rasa"/>
+    <param name="harmoni_bot_dir" value="$(find harmoni_bot)"/>
+    <node pkg="harmoni_bot" type="start_rasa_server.sh" name="start_rasa_server" />
+    <node pkg="harmoni_bot" type="rasa_service.py" name="harmoni_bot_rasa_default" output="screen"/>
+
+	<param name="test_rasa_input" value="Hello"/>
+	<param name="rasa/default_param/rasa_assistant" value="rasa_example"/>
+    <test test-name="test_rasa" pkg="harmoni_bot" type="rostest_rasa.py" time-limit="1000.0" />
+</launch>