PR/add jsk aibo robot

jsk_aibo_robot/aibo_selenium_ros/.gitignore

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+devel/
+logs/
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE
+.vscode/*

jsk_aibo_robot/aibo_selenium_ros/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(aibo_selenium_ros)
+
+find_package(catkin REQUIRED catkin_virtualenv)
+
+catkin_python_setup()
+
+catkin_generate_virtualenv(
+  PYTHON_INTERPRETER python3
+  CHECK_VENV FALSE
+)
+
+catkin_package()
+
+file(GLOB NODE_SCRIPTS_FILES node_scripts/*.py)
+
+catkin_install_python(
+  PROGRAMS ${NODE_SCRIPTS_FILES}
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)

jsk_aibo_robot/aibo_selenium_ros/README.md

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+# aibo_selenium_ros
+
+This package provides a ROS Node which retieve head camera images from web browser and publish it as ROS message.
+
+## How to setup
+
+**Currently this node is only tested with ROS noetic.**
+
+First, Download [suitable version of chrome webdriver to Google chrome installed](https://chromedriver.chromium.org/downloads) and place it somewhere.
+
+And install catkin dependencies
+
+```bash
+cd <directory of aibo_selenium_ros>
+rosdep install --from-paths . --ignore-src -y -r
+```
+
+Build
+
+```bash
+catkin bt
+```
+
+## How to run (Manual mode)
+
+To run this node, first run roscore
+
+```bash
+roscore
+```
+
+Then run `main.py`
+
+```bash
+$ rosrun aibo_selenium_ros main.py
+
+Press Enter when logging if completed.
+```
+
+This script shows up a selenium controlled webbrowser window.
+
+![aibo_login](https://user-images.githubusercontent.com/9410362/237017652-29c64750-a3a6-4008-a197-9c2cc5ba5bdb.png)
+
+Please sign in to myaibo manually and open the dashboard page below.
+
+![dashboard](https://user-images.githubusercontent.com/9410362/237017806-9f85e696-1f1c-4362-b1cc-22b0fe0e7635.png)
+
+Then hit Enter key on the `main.py` window. So it will start to control browser and publish image.
+
+![output](https://user-images.githubusercontent.com/9410362/237018221-13d6a118-6ec2-44ff-86eb-eecf75cfe218.gif)
+
+
+## How to run (Auto-login mode)
+
+You may be able to use `auto_login` mode. **This mode is unstable**
+
+```bash
+rosrun aibo_selenium_ros main.py _login_id:=<login_id> _login_password:=<login_password> _auto_login:=true
+```
+
+You can also use headless mode. by setting parameter.
+
+```bash
+rosrun aibo_selenium_ros main.py _login_id:=<login_id> _login_password:=<login_password> _auto_login:=true _headless:=true
+```

jsk_aibo_robot/aibo_selenium_ros/node_scripts/main.py

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+#!/usr/bin/env python
+
+import logging
+import sys
+import time
+
+import cv2
+import rospy
+from cv_bridge import CvBridge
+from sensor_msgs.msg import CompressedImage, Image
+
+from aibo_selenium_ros import AIBOBrowserInterface
+
+if __name__ == '__main__':
+
+  rospy.init_node('aibo_selenium_ros')
+
+  pub_raw = rospy.Publisher('~image', Image, queue_size=1)
+  pub_compressed = rospy.Publisher('~image/compressed',
+                                   CompressedImage,
+                                   queue_size=1)
+  cv_bridge = CvBridge()
+
+  logging.basicConfig(level=logging.INFO)
+  logger = logging.getLogger(__name__)
+
+  login_id = rospy.get_param('~login_id', '')
+  login_password = rospy.get_param('~login_password', '')
+
+  auto_login = bool(rospy.get_param('~auto_login', False))
+  headless = bool(rospy.get_param('~headless', False))
+
+  interface = AIBOBrowserInterface(login_id=login_id,
+                                   login_pw=login_password,
+                                   auto_login=auto_login,
+                                   headless=headless)
+  if not auto_login:
+    input('Press Enter when logging if completed.')
+    interface.initialized = True
+
+  if not interface.initialized:
+    rospy.logerr('Initialization failed.')
+    input('Press Enter when logging if completed.')
+
+  interface.start_watching()
+  while True:
+    image_rgb = interface.get_current_image()
+    if image_rgb is None:
+      rospy.loginfo('Restarting watching....')
+      time.sleep(3.)
+      ret = interface.continue_watching()
+      rospy.loginfo('Restarted watching.')
+    else:
+      if pub_raw.get_num_connections() > 0:
+        msg_raw = cv_bridge.cv2_to_imgmsg(cv2.cvtColor(image_rgb,
+                                                       cv2.COLOR_RGBA2RGB),
+                                          encoding='rgb8')
+        pub_raw.publish(msg_raw)
+        rospy.loginfo('Publish a raw message')
+
+      if pub_compressed.get_num_connections() > 0:
+        msg_compressed = cv_bridge.cv2_to_compressed_imgmsg(cv2.cvtColor(
+            image_rgb, cv2.COLOR_RGBA2RGB),
+                                                            dst_format='jpg')
+        pub_compressed.publish(msg_compressed)
+        rospy.loginfo('Publish a compressed message')

jsk_aibo_robot/aibo_selenium_ros/node_scripts/test_interface.py

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+#!/usr/bin/env python
+
+import argparse
+import logging
+import sys
+import time
+
+import cv2
+
+from aibo_selenium_ros import AIBOBrowserInterface
+
+if __name__ == '__main__':
+
+  logging.basicConfig(level=logging.INFO)
+  logger = logging.getLogger(__name__)
+
+  parser = argparse.ArgumentParser()
+
+  parser.add_argument('--login-id', default='')
+  parser.add_argument('--login-password', default='')
+
+  parser.add_argument('--auto-login', action='store_true')
+  parser.add_argument('--headless', action='store_true')
+
+  args = parser.parse_args()
+
+  interface = AIBOBrowserInterface(login_id=args.login_id,
+                                   login_pw=args.login_password,
+                                   auto_login=args.auto_login,
+                                   headless=args.headless)
+  if not args.auto_login:
+    input('Press Enter when logging if completed.')
+    interface.initialized = True
+
+  if not interface.initialized:
+    logger.error('Initialization failed.')
+    sys.exit(1)
+
+  interface.start_watching()
+  while True:
+    image_rgb = interface.get_current_image()
+    if image_rgb is None:
+      logger.info('Restarting watching....')
+      time.sleep(3.)
+      ret = interface.continue_watching()
+      logger.info('Restarted watching.')
+    else:
+      image_bgr = cv2.cvtColor(image_rgb, cv2.COLOR_RGB2BGR)
+      cv2.imshow('hoge', image_bgr)
+      if cv2.waitKey(1) != -1:
+        break
+
+  cv2.destroyAllWindows()

jsk_aibo_robot/aibo_selenium_ros/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>aibo_selenium_ros</name>
+  <version>1.1.0</version>
+  <description>The aibo_selenium_ros package</description>
+
+  <maintainer email="[email protected]">Koki Shinjo</maintainer>
+  <maintainer email="[email protected]">Kei Okada</maintainer>
+
+  <author email="[email protected]">Koki Shinjo</author>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>catkin_virtualenv</build_depend>
+
+  <exec_depend>chromium-browser</exec_depend>
+  <exec_depend>chromedriver</exec_depend>
+  <export>
+    <pip_requirements>requirements.txt</pip_requirements>
+  </export>
+</package>