Revision b47687f8

View differences:

server/CMakeLists.txt
55 55 
IF (catkin_FOUND)
56 56 
    SET(ROS_FOUND 1)
57 57 

  		




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    find_package(catkin REQUIRED COMPONENTS roscpp std_msgs sensor_msgs message_generation genmsg actionlib_msgs actionlib)


  		




  
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    find_package(catkin REQUIRED COMPONENTS roscpp std_msgs geometry_msgs sensor_msgs message_generation genmsg actionlib_msgs actionlib)


  		




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    message(STATUS "ROS Support is ON")


  		




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    add_definitions(-DROS_SUPPORT=1)


  		




  ......




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        FILES


  		




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        phoneme.msg


  		




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        soundchunk.msg


  		




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	utterance.msg


  		




  
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        utterance.msg


  		




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    )


  		




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    add_service_files(


  		




  ......




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        animation.action


  		




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        speech.action


  		




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        utterance.action


  		




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	tts.action


  		




  
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        tts.action


  		




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        emotionstate.action


  		




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        gazetarget.action


  		




  
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        lookattarget.action


  		




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        mouthtarget.action


  		




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    )


  		




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  ......




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        DEPENDENCIES


  		




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        actionlib_msgs


  		




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        std_msgs


  		




  
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        geometry_msgs


  		




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        hlrc_server


  		




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    )


  		




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      server/action/lookattarget.action
    
  





  
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std_msgs/Header header


  		




  
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geometry_msgs/Point  point


  		




  
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# roll angle


  		




  
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float32 roll


  		




  
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---


  		




  
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#result


  		




  
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uint32 result


  		




  
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---


  		




  
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#feedback


  		




  
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uint32 result


  		












  

    
      server/include/MiddlewareROS.h
    
  





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    #include "hlrc_server/utterance.h"


  		




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    //actions


  		




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    #include "hlrc_server/gazetargetAction.h"


  		




  
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    #include "hlrc_server/lookattargetAction.h"


  		




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    #include "hlrc_server/ttsAction.h"


  		




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    #include "ROS/GazeCallbackWrapperROS.h"


  		




  
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    #include "ROS/LookatCallbackWrapperROS.h"


  		




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    #include "ROS/MouthCallbackWrapperROS.h"


  		




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    #include "ROS/UtteranceCallbackWrapperROS.h"


  		




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    #include "ROS/EmotionCallbackWrapperROS.h"


  		




  ......




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    EmotionCallbackWrapper *current_emotion_action_server;


  		




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    EmotionCallbackWrapper *default_emotion_action_server;


  		




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    GazeCallbackWrapper *gaze_action_server;


  		




  
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    LookatCallbackWrapper *lookat_action_server;


  		




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    MouthCallbackWrapper *mouth_action_server;


  		




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    SpeechCallbackWrapper *speech_action_server;


  		




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    actionlib::SimpleActionClient<hlrc_server::ttsAction> *tts_ac;


  		












  

    
      server/include/ROS/LookatCallbackWrapperROS.h
    
  





  
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/*


  		




  
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* This file is part of hlrc_server


  		




  
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*


  		




  
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* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de


  		




  
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* http://opensource.cit-ec.de/projects/hlrc_server


  		




  
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*


  		




  
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* This file may be licensed under the terms of the


  		




  
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* GNU General Public License Version 3 (the ``GPL''),


  		




  
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* or (at your option) any later version.


  		




  
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*


  		




  
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* Software distributed under the License is distributed


  		




  
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* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either


  		




  
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* express or implied. See the GPL for the specific language


  		




  
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* governing rights and limitations.


  		




  
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*


  		




  
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* You should have received a copy of the GPL along with this


  		




  
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* program. If not, go to http://www.gnu.org/licenses/gpl.html


  		




  
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* or write to the Free Software Foundation, Inc.,


  		




  
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* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.


  		




  
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*


  		




  
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* The development of this software was supported by the


  		




  
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* Excellence Cluster EXC 277 Cognitive Interaction Technology.


  		




  
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* The Excellence Cluster EXC 277 is a grant of the Deutsche


  		




  
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* Forschungsgemeinschaft (DFG) in the context of the German


  		




  
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* Excellence Initiative.


  		




  
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*


  		




  
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*/


  		




  
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#pragma once


  		




  
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#include "hlrc_server/lookattargetAction.h"


  		




  
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#include "CallbackWrapperROS.h"


  		




  
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//callback handler incoming lookat requests:


  		




  
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class LookatCallbackWrapper : CallbackWrapper<hlrc_server::lookattargetAction>{


  		




  
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protected:


  		




  
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    hlrc_server::lookattargetFeedback feedback;


  		




  
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    hlrc_server::lookattargetResult result;


  		




  
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public:


  		




  
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    LookatCallbackWrapper(Middleware *mw, std::string scope, std::string name)


  		




  
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       : CallbackWrapper<hlrc_server::lookattargetAction>(mw, scope, name, boost::bind(&LookatCallbackWrapper::call, this, _1))


  		




  
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    {


  		




  
  44
  
    
        //


  		




  
  45
  
    
    }


  		




  
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    void call(const GoalConstPtr &goal){


  		




  
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        feedback.result = 1;


  		




  
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        hlrc_server::lookattargetGoalConstPtr request = goal;


  		




  
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        humotion::GazeState gaze_state;


  		




  
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        // fill in lookat


  		




  
  54
  
    
        gaze_state.pan   = 20;


  		




  
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        gaze_state.tilt  = 30;


  		




  
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        gaze_state.roll  = 10;


  		




  
  57
  
    

  		




  
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        // use timestamp from request


  		




  
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        gaze_state.timestamp.set(request->header.stamp.sec, request->header.stamp.nsec);


  		




  
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        gaze_state.gaze_type = humotion::GazeState::GAZETYPE_ABSOLUTE;


  		




  
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        gaze_state.vergence  = 0;


  		




  
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        gaze_state.pan_offset = 0;


  		




  
  64
  
    
        gaze_state.tilt_offset = 0;


  		




  
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        // processing


  		




  
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        feedback.result = 1;


  		




  
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        as_.publishFeedback(feedback);


  		




  
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        // send to application:


  		




  
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        mw->gaze_callback(gaze_state);


  		




  
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        if (feedback.result){


  		




  
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            result.result = feedback.result;


  		




  
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            as_.setSucceeded(result);


  		




  
  76
  
    
        }else{


  		




  
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            as_.setAborted(result);


  		




  
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        }


  		




  
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    }


  		




  
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};


  		












  

    
      server/package.xml
    
  





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  <!-- Use build_depend for packages you need at compile time: -->


  		




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  <build_depend>roscpp</build_depend>


  		




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  <build_depend>std_msgs</build_depend>


  		




  
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  <build_depend>geometry_msgs</build_depend>


  		




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  <build_depend>actionlib_msgs</build_depend>


  		




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  <build_depend>humotion</build_depend>


  		




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  <!-- Use run_depend for packages you need at runtime: -->


  		




  
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  <run_depend>std_msgs</run_depend>


  		




  
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  <run_depend>geometry_msgs</run_depend>


  		




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  <run_depend>actionlib_msgs</run_depend>


  		




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  <!-- Use test_depend for packages you need only for testing: -->


  		




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  <!--   <test_depend>gtest</test_depend> -->


  		












  

    
      server/src/MiddlewareROS.cpp
    
  





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    current_emotion_action_server = new EmotionCallbackWrapper(this, scope, "currentEmotion");


  		




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    default_emotion_action_server = new EmotionCallbackWrapper(this, scope, "defaultEmotion");


  		




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    gaze_action_server = new GazeCallbackWrapper(this, scope, "gaze");


  		




  
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    lookat_action_server = new LookatCallbackWrapper(this, scope, "lookat");


  		




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    mouth_action_server = new MouthCallbackWrapper(this, scope, "mouth");


  		




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    speech_action_server = new SpeechCallbackWrapper(this, scope, "speech");


  		




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