parse guest description

Author: igonzf

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/src/hri/dialog/get_guest_info.cpp

@@ -97,8 +97,10 @@ void GetGuestInfo::on_result()
   std_msgs::msg::String fact_msg;
 
   // Delete attending fact
-  fact_msg.data = "robot1 oro:attends " + guest_id_;
-  kb_publisher_->publish(fact_msg);
+  if (!guest_id_.empty()) {
+    fact_msg.data = "robot1 oro:attends " + guest_id_;
+    kb_publisher_->publish(fact_msg);
+  }
 
   setStatus(BT::NodeStatus::SUCCESS);
 }

bt_nodes/hri/src/hri/dialog/store_guest_info.cpp

@@ -75,6 +75,26 @@ std::string obtain_guest_id(const std::string & json)
   return "guest" + std::to_string(max_id + 1);
 }
 
+static std::string escape_turtle_literal(std::string s)
+{
+  // 1) Escape backslashes
+  for (size_t pos = 0; (pos = s.find('\\', pos)) != std::string::npos; pos += 2) {
+    s.replace(pos, 1, "\\\\");
+  }
+
+  // 2) Escape double quotes
+  for (size_t pos = 0; (pos = s.find('"', pos)) != std::string::npos; pos += 2) {
+    s.replace(pos, 1, "\\\"");
+  }
+
+  // 3) Optional: normalize newlines (depends on parser strictness)
+  for (size_t pos = 0; (pos = s.find('\n', pos)) != std::string::npos; pos += 2) {
+    s.replace(pos, 1, "\\n");
+  }
+
+  return s;
+}
+
 void StoreGuestInfo::on_result()
 {
   RCLCPP_DEBUG(node_->get_logger(), "[StoreGuestInfo] result received");
@@ -101,6 +121,7 @@ void StoreGuestInfo::on_result()
   kb_publisher_->publish(fact_msg);
 
   if (!guest_description_.empty()) {
+    guest_description_ = escape_turtle_literal(guest_description_);
     fact_msg.data = guest_id + " oro:description \"" + guest_description_ + "\"";
     kb_publisher_->publish(fact_msg);
   }

robocup_bringup/launch/receptionist_dependencies.launch.py

@@ -41,7 +41,7 @@ def generate_launch_description():
 
     manipulation_server = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(manipulation_dir, 'launch', 'server.launch.py')
+            os.path.join(manipulation_dir, 'launch', 'simple_server.launch.py')
         )
     )
 
@@ -97,6 +97,6 @@ def generate_launch_description():
     ld.add_action(yolo3d)
     ld.add_action(real_time)
     #ld.add_action(move_group)
-    #ld.add_action(manipulation_server)
+    ld.add_action(manipulation_server)
 
     return ld