[gpt4v_vqa] update eusilsp lib and add simple script

gpt4v_vqa/euslisp/run_simple_vqa.l

@@ -0,0 +1,9 @@
+#!/usr/bin/env roseus
+
+(load "package://gpt4v_vqa/euslisp/utils.l")
+
+(ros::roseus "run_simple_vqa")
+
+(print "Question is \"Please describe the image briefly.\"")
+(print (format nil "Answer is ~a" (run-vqa "Please describe the image briefly.")))
+(exit)

gpt4v_vqa/euslisp/utils.l

@@ -0,0 +1,33 @@
+(ros::load-ros-manifest "jsk_recognition_msgs")
+
+(defparameter *vqa-action* nil)
+
+(defun init-vqa-action (&key (timeout 10))
+  (unless *vqa-action*
+    (setq *vqa-action*
+          (instance ros::simple-action-client :init
+                    "/vqa/inference_server" jsk_recognition_msgs::VQATaskAction)))
+  (send *vqa-action* :wait-for-server timeout)
+  )
+
+(defun run-vqa (question &optional msg_image &key (timeout 30))
+  "run vqa action client. return answer string or nil if failed."
+  (if (not (init-vqa-action))
+    (return-from run-vqa nil))
+  (let* (result answer
+         (action-goal (instance jsk_recognition_msgs::VQATaskGoal :init)))
+    (send action-goal :questions (list question))
+    (if msg_image
+        (send action-goal :image msg_image)
+    )
+    (send *vqa-action* :send-goal action-goal)
+    (unless (send *vqa-action* :wait-for-result :timeout timeout)
+      (send *vqa-action* :cancel-all-goals)
+      (ros::ros-error "No result returned from /vqa action server")
+      (return-from run-vqa nil))
+    (setq result (send *vqa-action* :get-result))
+    (if (and result (> (length (send result :result :result)) 0))
+        (send (elt (send result :result :result) 0) :answer)
+        nil)
+    )
+  )