merged

Author: juandpenan

bt_nodes/arm/CMakeLists.txt

@@ -16,7 +16,13 @@ find_package(tf2_ros REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(play_motion2_msgs REQUIRED)
-# uncomment the following section in order to fill in
+find_package(Eigen3 REQUIRED)
+find_package(srdfdom REQUIRED)
+find_package(eigen_stl_containers REQUIRED)
+find_package(geometric_shapes REQUIRED)
+find_package(moveit_core REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+include_directories(${EIGEN3_INCLUDE_DIRS})
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
 
@@ -32,8 +38,15 @@ set(dependencies
   geometry_msgs
   sensor_msgs
   play_motion2_msgs
+  srdfdom
+  eigen_stl_containers
+  geometric_shapes
+  moveit_core
+  tf2_geometry_msgs
+  Eigen3
 )
 
+
 include_directories(include)
 
 add_library(pick_bt_node SHARED src/manipulation/pick_object.cpp)

bt_nodes/hri/CMakeLists.txt

@@ -88,6 +88,9 @@ list(APPEND plugin_libs get_attended_guest_bt_node)
 add_library(get_guest_info_bt_node SHARED src/hri/dialog/get_guest_info.cpp)
 list(APPEND plugin_libs get_guest_info_bt_node)
 
+add_library(get_attended_guest_bt_node SHARED src/hri/dialog/get_attended_guest.cpp)
+list(APPEND plugin_libs get_attended_guest_bt_node)
+
 foreach(bt_plugin ${plugin_libs})
 ament_target_dependencies(${bt_plugin} ${dependencies})
 target_compile_definitions(${bt_plugin} PRIVATE BT_PLUGIN_EXPORT)

bt_nodes/hri/include/hri/dialog/get_attended_guest.hpp

@@ -54,4 +54,8 @@ class GetAttendedGuest : public hri::BtServiceNode<
 
 }  // namespace dialog
 
-#endif  // HRI__GEST_ATTENDED_GUEST_HPP_
+<<<<<<< HEAD
+#endif  // HRI__GEST_ATTENDED_GUEST_HPP_
+=======
+#endif  // HRI__GEST_ATTENDED_GUEST_HPP_
+>>>>>>> 1f1491be56267206e8ecccbbb4ccc130df93e609

bt_nodes/hri/src/hri/dialog/get_attended_guest.cpp

@@ -87,3 +87,7 @@ BT_REGISTER_NODES(factory)
 
   factory.registerBuilder<dialog::GetAttendedGuest>("GetAttendedGuest", builder);
 }
+<<<<<<< HEAD
+=======
+
+>>>>>>> 1f1491be56267206e8ecccbbb4ccc130df93e609

bt_nodes/hri/src/hri/dialog/get_guest_info.cpp

@@ -45,7 +45,7 @@ void GetGuestInfo::on_tick()
 
   std::string guest_name_pattern, guest_drink_pattern, guest_desc_pattern;
 
-  if (guest_attending_) {
+  if(guest_attending_){
 
     guest_name_pattern = guest_attending_id_ + " oro:hasName ?name";
     guest_drink_pattern = guest_attending_id_ + " oro:hasFavoriteDrink ?drink";

robocup_bringup/launch/dialog.launch.py

@@ -27,20 +27,13 @@ def generate_launch_description():
     # package_dir = get_package_share_directory('robocup_bringup')
     # llama_dir = get_package_share_directory('llama_bringup')
     whisper_dir = get_package_share_directory('whisper_bringup')
+    kb_dir = get_package_share_directory('knowledge_core')
     # audio_common_dir = get_package_share_directory('audio_common')
 
     # Configuration Variables
     model_repo = LaunchConfiguration('model_repo')
     model_filename = LaunchConfiguration('model_filename')
 
-    declare_model_repo_cmd = DeclareLaunchArgument(
-        'model_repo', default_value='ggerganov/whisper.cpp',
-        description='Hugging Face model repo')
-
-    declare_model_filename_cmd = DeclareLaunchArgument(
-        'model_filename', default_value='ggml-large-v3-q5_0.bin',
-        description='Hugging Face model filename')
-
     # Actions
     llama_cmd = create_llama_launch(
 
@@ -82,6 +75,12 @@ def generate_launch_description():
         }.items()
     )
 
+    kb_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(kb_dir, 'launch', 'knowledge_core.launch.py')
+        )
+    )
+
     audio_common_tts_node = Node(
         package='tts_ros',
         executable='tts_node',
@@ -107,8 +106,8 @@ def generate_launch_description():
     )
 
     ld = LaunchDescription()
-    ld.add_action(declare_model_repo_cmd)
-    ld.add_action(declare_model_filename_cmd)
+    # ld.add_action(declare_model_repo_cmd)
+    # ld.add_action(declare_model_filename_cmd)
     ld.add_action(whisper_cmd)
     ld.add_action(llama_cmd)
     ld.add_action(audio_common_tts_node)

robocup_bringup/launch/receptionist_dependencies.launch.py

@@ -59,6 +59,7 @@ def generate_launch_description():
         ),
         launch_arguments={
             # 'namespace': 'perception_system',
+            'use_3d': 'True',
             'model': 'yolov8n.pt',
             'input_image_topic': '/head_front_camera/rgb/image_raw',
             'input_depth_topic': '/head_front_camera/depth/image_raw',