From 103d93d41d88b56912b16397d31339729447d30f Mon Sep 17 00:00:00 2001
From: Your Name <you@example.com>
Date: Mon, 14 Oct 2024 16:30:26 +0900
Subject: [PATCH] [webrtcvad_ros] support catkin_virtualenv

---
 webrtcvad_ros/CMakeLists.txt       | 12 +++++++++++-
 webrtcvad_ros/launch/sample.launch | 13 ++++++++++---
 webrtcvad_ros/node_scripts/vad.py  |  0
 webrtcvad_ros/package.xml          |  3 +++
 webrtcvad_ros/requirements.txt     |  1 +
 5 files changed, 25 insertions(+), 4 deletions(-)
 mode change 100755 => 100644 webrtcvad_ros/node_scripts/vad.py
 create mode 100644 webrtcvad_ros/requirements.txt

diff --git a/webrtcvad_ros/CMakeLists.txt b/webrtcvad_ros/CMakeLists.txt
index ea158642d..6b2c056d8 100644
--- a/webrtcvad_ros/CMakeLists.txt
+++ b/webrtcvad_ros/CMakeLists.txt
@@ -1,8 +1,18 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(webrtcvad_ros)
 
-find_package(catkin REQUIRED)
+find_package(catkin REQUIRED COMPONENTS catkin_virtualenv)
+
+catkin_generate_virtualenv(
+    PYTHON_INTERPRETER python3
+    USE_SYSTEM_PACKAGES FALSE
+    CHECK_VENV FALSE
+)
 
 catkin_python_setup()
 
 catkin_package()
+
+catkin_install_python(PROGRAMS
+    node_scripts/vad.py
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
diff --git a/webrtcvad_ros/launch/sample.launch b/webrtcvad_ros/launch/sample.launch
index ed8aeb43c..3a7487310 100644
--- a/webrtcvad_ros/launch/sample.launch
+++ b/webrtcvad_ros/launch/sample.launch
@@ -1,4 +1,6 @@
 <launch>
+    <arg name="aggressiveness" default="1" />
+
     <include file="$(find audio_capture)/launch/capture.launch">
         <arg name="format" value="wave"/>
     </include>
@@ -9,8 +11,8 @@
         type="vad.py"
         output="screen"
     >
-        <rosparam>
-            aggressiveness: 1
+        <rosparam subst_value="true">
+            aggressiveness: $(arg aggressiveness)
         </rosparam>
         <remap from="audio_data" to="/audio/audio"/>
         <remap from="audio_info" to="/audio/audio_info"/>
@@ -25,7 +27,12 @@
         <remap from="audio" to="/webrtcvad_ros/speech_audio"/>
         <rosparam subst_value="true">
             language: ja-JP
-            self_cancellation: false
+            self_cancellation: true
+            tts_actions_names:
+            - sound_play
+            - speed_play_jp
+            - robotsound
+            - robotsound_jp
             tts_tolerance: 1.0
         </rosparam>
     </node>
diff --git a/webrtcvad_ros/node_scripts/vad.py b/webrtcvad_ros/node_scripts/vad.py
old mode 100755
new mode 100644
diff --git a/webrtcvad_ros/package.xml b/webrtcvad_ros/package.xml
index ba682dc0b..53928b708 100644
--- a/webrtcvad_ros/package.xml
+++ b/webrtcvad_ros/package.xml
@@ -13,10 +13,13 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <build_depend>catkin_virtualenv</build_depend>
+
   <exec_depend>audio_common_msgs</exec_depend>
   <exec_depend>rospy</exec_depend>
   <exec_depend>python-webrtcvad-pip</exec_depend>
 
   <export>
+    <pip_requirements>requirements.txt</pip_requirements>
   </export>
 </package>
diff --git a/webrtcvad_ros/requirements.txt b/webrtcvad_ros/requirements.txt
new file mode 100644
index 000000000..cd711ed7a
--- /dev/null
+++ b/webrtcvad_ros/requirements.txt
@@ -0,0 +1 @@
+webrtcvad