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jsk-ros-pkg / jsk_demos

JSK demo programs
https://github.com/jsk-ros-pkg/jsk_demos
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[database_talker] add database_talker #1388

Open sktometometo opened 1 year ago

sktometometo commented 1 year ago

@k-okada hoge.py を追加し、スタンドアロンで動作するようにしているパッケージです。 現在動作確認中です.

CC: @tkmtnt7000

sktometometo commented 1 year ago

all done, ready まではいくようになりました。

tkmtnt7000 commented 1 year ago

all done readyから先にもトラップが何重かありました． 再審のhoge.pyを利用する必要があります ちなみに今も岡田先生とデバグ中です．

sktometometo commented 1 year ago

@k-okada どういうデモのプログラムか聞いてないんですが全体像としてはどういうものなのですか？

tkmtnt7000 commented 1 year ago

@sktometometo hoge.pyで以下の画像のようなことができるようになります． image

メモ書き

やらなくていいことリスト

やったらいいことリスト

@mqcmd196 リスト

sktometometo commented 1 year ago

inputはチャット？

tkmtnt7000 commented 1 year ago

チャットがinputになっています

tkmtnt7000 commented 1 year ago

昨日の作業を簡単にまとめておくと Fetchでいい感じに動かすには，


ことが必要でした．

- `JSK Robot bot`にたまに生のエラーメッセージが表示される．
`list index out of range`　とか`human is not in list`はvqaかclipか(どっちかあまり理解していないですが)で対応するチャットに近い画像を見つけられなかったときのエラーらしい．適当にtimestampを調整して画像を探しに行く時間帯を広げてやるといいかもしれない．

**常時Fetchで動かすには**
- どこかGPUの使えるマシンでvqa, clip, openai_rosを常時起ち上げておく
- dialogflow関連のノードのnamespaceを変更できるようにして名前衝突を回避し，dialogflowを複数起ち上げられるようにする
- ros_google_cloud_languageを起動しておく

あたりが必要かと思いました．

すごく面白いシステムになりそうだと昨日デバグしながら思っていましたが，この仕組みをそのまま常時動かすのは，今後のデバグが結構面倒な気がするので，常時動かす際にはもう少しシンプルなシステムにできないものかとおもいました．
システム変更は難しいとしてもせめてシステム構成図をきちんと丁寧に書いておいて，初見の人でもREADMEを読んだだけでプログラムの流れがわかるようにしておくのは必須かなと思いました．
（蛇足1：hoge.pyの`make_reply`関数の中身をもうすこし細かく関数に分けられると読みやすいかもしれない）
（蛇足2：hoge.pyがアクセスしに行く各システムの奥深さも低減されると嬉しい）

cc: @a-ichikura @mqcmd196
tkmtnt7000 commented 1 year ago

関連するパッケージのPRがマージされているのでfetchのdevelopブランチにマージしてapp_chooserから起動できるようにしておこうと思います．パッケージの名前等変更したほうが良ければこのタイミングで変えておきます．

mqcmd196 commented 1 year ago

hoge.py だけ変えませんか

sktometometo commented 1 year ago

@tkmtnt7000 Can you create new PR from this branch?

k-okada commented 1 year ago

この機能は全ロボットで常時動いたら良いので、fetch/develop としては、

tkmtnt7000 commented 1 year ago

デフォルトで各種サービスのnode が立ち上がるようにしましょう -> launch ファイル的なものが jsk_robot_common に入るイメージですが、dialogflowやchatは既に上がっているので、それ以外のものになるのかな？

そうなると思います．jsk_robotに出ているhttps://github.com/jsk-ros-pkg/jsk_robot/pull/1792 と https://github.com/tkmtnt7000/jsk_robot/blob/cd0a897deb224038674e88ac7599502f7caf5d59/jsk_robot_common/jsk_robot_startup/launch/sample_database_talker.launch を使って追加で常時起ち上げられるようにします．

それにはVQA関連のサーバを研究室管理にする必要があるけど、 dlbox で上がっているかな？→この部分はmasterにもPR出せるはず

現状はは73B2に置かれているdlbox15で一時的に手動で起ち上げっぱなしにしています．GUIでポチポチできると嬉しいかなと思っています(イメージとしてはsystemdのseviceファイルを書いてcookpitのようなものを使う)が，このあたりは手を付けていません．

hoge.py は、まだデモ投入されていないという理解で、現状の問題は、この時点でプログラム動かしても、例えば先日の豊島の結果がさっと出てこないが最初の問題だと思います。で、多分muscaに画像の問い合わせが入ると時間がかかるんだけど、解決策は1) muscaの画像を間引く 2) message typeを指定しなければ早かった気がするんだけど、本当だっけ？であれば、データをとってきて、こちらでメッセージのフィルター掛けるとか、Queryのなにかの指定の仕方がまずいのかを調査する必要があると思って宿題に積んである。これを解決してデモで投入されたらパッケージとして運用しましょう。

画像と音声の問い合わせに時間がかかっています．検索結果が空の場合はは指定した時間分すべてを走査するので特に返ってこない，という印象です．muscaのスペックの問題かこちらのQueryの投げ方が悪いのか，，，などまだ問題ごとに調べきれていないので調査中．．というところです．

tkmtnt7000 commented 1 year ago

2) message typeを指定しなければ早かった気がするんだけど、本当だっけ？であれば、データをとってきて、こちらでメッセージのフィルター掛けるとか、Queryのなにかの指定の仕方がまずいのかを調査する必要があると思って宿題に積んである。

message typeを指定しないと早いのはおそらくそうで，以下のスクリプトでタイプを指定しないで引っ張ってくるように検証するとおよそ5時間分/1400枚の画像をdumpするのに5分でした．

robot_database_mongo_dump.py: https://gist.github.com/tkmtnt7000/11bdace2ff71354a65b42aa07b4c2f21

tsukamoto@tsukamoto-desktop /mnt/almagest/73B2/tsukamoto/Shared/mongo_dump 
$ time python ~/robot_database_mongo_dump.py -c "fetch1075" --start "2023-06-10 09:30:00" --end "2023-06-10 14:30:00
...

...
real    4m51.350s
user    3m4.234s
sys     0m15.167s

5分でもインタラクティブなやり取りには長いと感じているので，人間が夢を見ながら記憶整理をするように，ロボットも夜の間に記憶整理(夢を見る)と称してオフライン処理をしても良いかもしれないと思いました．

k-okada commented 1 year ago

@a-ichikura aiboの日記プログラムです．もっと良い日記を作る様に直してもらえると助かります．

  1. 環境構築 https://github.com/sktometometo/jsk_demos/blob/PR/hoge-py/database_talker/aibo.rosinstall を使ってワークスペースを作成する．例えば．．．

    mkdir -p ~/aibo_ws/src/
cd ~/aibo_ws/src
wstool init
wstool merge  https://github.com/sktometometo/jsk_demos/blob/PR/hoge-py/database_talker/aibo.rosinstall 
wstool update
cd ~/aibo_ws

    ビルドは以下のように必要なものだけ動かすと良い．

    catkin b database_talker aibo_driver google_chat_ros jsk_recognition_msgs jsk_robot_startup openai_ros

    OpenAIのSecretKey (https://drive.google.com/file/d/1eEoWt_ENWCQsP4WRg475b8JRIX5b8m03/view?usp=drive_link) を入手し以下に置く．

    ~/aibo_ws/src/aibo_driver/auth/openai_credentials.json

  2. ローカル環境で動くlaunchを実行，openaiとmongodbへのラッパを作成（iネットワークが必要）

    source ~/aibo_ws/devel/setup.bash
roslaunch aibo_example.launch

  3. 日記プログラムを実行 結果は

    source ~/aibo_ws/devel/setup.bash
rosrun database_talker make_aibo_diary.py  --test

    結果がターミナルに表示される．dbへの検索を１回やると/tmp/activities.pickleにキャッシュを保持する．１時間はこのデータを使うので，新しいdb内容を反映させたければactivities.pickleを消去する．

日記作成プロンプトはdef make_diary とdef make_activity を参照 画像は，画像キャプチャ時にaibo_driver/scripts/store_image_description.py の中でVQAを介して説明文をDBに登録している．その時の，プロンプトは aibo_driver/launch/demo.launchのなかで，

    <rosparam param="_this_alywayw_returns_no_questions">["what does this image describe? and what unusual scene can be seen? If this image is  dark,  say  \"none\"."]</rosparam>
    <rosparam param="questions">["what does this image describe? and what unusual scene can be seen?"]</rosparam>

として指定．夜は暗い画像が撮られるが，それは排除したいので，それ自体をVQAで判断したかったが，上手くいかないので，store_image_description.py で，画像が暗ければ，そもそもDBに入れないようにした．

k-okada commented 1 year ago

開発写メモ： rossetmaster wasabien 環境で，rostopic pub -1 /publish_trigger_mongodb_event aibo_driver/StringStatus "header: auto" として，強制的に画像＋VQAをDBに格納．

k-okada commented 9 months ago

7cdadc8 によって、@a-ichikura が https://chat.google.com/room/AAAAoTwLBL0/Cu9QFiOnrNg/Cu9QFiOnrNg?cls=10 で提案した「上の日記に対して、aiboのパーソナリティをプロンプトに入れてみた」の出力が出るように変更しました。変更後の日記は https://chat.google.com/room/AAAAoTwLBL0/poeFsCh9dyc/poeFsCh9dyc?cls=10 で見れます。

どういうプロンプトになっているかは 、 ssh （wasabi）133.11.216.54 で https://wiki.seeedstudio.com/Quantum-Mini-Linux-Development-Kit/#system-default-users-and-password でログインして　tmux a で make_aibo_diary.py が動いているターミナルで確認できます。手元で試すには、https://github.com/jsk-ros-pkg/jsk_demos/pull/1388#issuecomment-1829131023 で試せます

k-okada commented 8 months ago

@a-ichikura 3/20のデモプログラムです。rosinstall でセットアップできます（で動くとよいけど、まだ誰も試していないので、エラーが出たら教えてください）, https://drive.google.com/file/d/1kRN6lIDQDMdQdo0rGtHukBaCq40bNriV/view?usp=drive_link からキーを落として database_talker/auth 以下に入れてください。 README: https://github.com/sktometometo/jsk_demos/blob/PR/hoge-py/database_talker/README.md rosinstall: https://github.com/sktometometo/jsk_demos/blob/PR/hoge-py/database_talker/rosinstall

最初は変な記憶が出来たら、消して対応するとよいので、以下をしてからやるとよいです。 https://github.com/sktometometo/jsk_demos/tree/PR/hoge-py/database_talker#stop-using-external-dbs-this-is-recommended-during-debug-phase

sample.launchをしてから、 rosrun database_talker make_diary.py --test --prompt-type personality するとコンソールに日記が出てきますが、いい感じのプロンプトを提案してください。

https://github.com/sktometometo/jsk_demos/blob/c361fd491a22f9a52358f62b350c0b900a0a628b/database_talker/sample/sample.launch#L12 でロボットの名前が決まります。テスト中はrobot/dummyでよいと思います。

Cc: @yuki-asano さっき話題になったサンプルプログラムはこれです。

a-ichikura commented 7 months ago

@k-okada

環境構築には成功しましたがbson packageでエラーになりました。

$ rosrun database_talker make_diary.py --prompt-type personality
<string>:869: SyntaxWarning: "is not" with a literal. Did you mean "!="?
<string>:872: SyntaxWarning: "is" with a literal. Did you mean "=="?
Traceback (most recent call last):
  File "/home/leus/aibo_ws/src/jsk_demos/database_talker/scripts/make_diary.py", line 13, in <module>
    from database_talker import DatabaseTalkerBase
  File "/home/leus/aibo_ws/devel/lib/python3/dist-packages/database_talker/__init__.py", line 34, in <module>
    exec(__fh.read())
  File "<string>", line 10, in <module>
ImportError: cannot import name 'json_util' from 'bson' (/home/leus/aibo_ws/devel/.private/database_talker/share/database_talker/venv/lib/python3.8/site-packages/bson/__init__.py)

bsonのversionは

$ pip show bson
Name: bson
Version: 0.5.10
Summary: BSON codec for Python
Home-page: http://github.com/py-bson/bson
Author: Ayun Park
Author-email: iamparkayun@gmail.com
License: BSD
Location: /home/leus/.local/lib/python3.8/site-packages
Requires: python-dateutil, six
Required-by:

です。

ちなみに、 $ roslaunch database_talker sample.launch したときに、

[usb_cam-2] restarting process
process[usb_cam-2]: started with pid [32071]
[ INFO] [1712115706.826342285]: using default calibration URL
[ INFO] [1712115706.826535198]: camera calibration URL: file:///home/leus/.ros/camera_info/head_camera.yaml
[ INFO] [1712115706.826555872]: Unable to open camera calibration file [/home/leus/.ros/camera_info/head_camera.yaml]
[ WARN] [1712115706.826562218]: Camera calibration file /home/leus/.ros/camera_info/head_camera.yaml not found.
[ INFO] [1712115706.826569998]: Starting 'head_camera' (/dev/video0) at 320x240 via mmap (yuyv) at 10 FPS
[ERROR] [1712115706.826584841]: Cannot identify '/dev/video0': 2, No such file or directory

になるのはaibo(karashi)が起動していないからですか？

a-ichikura commented 7 months ago

pymongoをとりあえずupgradeしてみましたが結果は変わらずです。 参考

$ pip show pymongo
Name: pymongo
Version: 4.6.3
Summary: Python driver for MongoDB <http://www.mongodb.org>
Home-page: None
Author: The MongoDB Python Team
Author-email: None
License: Apache License
                                   Version 2.0, January 2004
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Location: /home/leus/.local/lib/python3.8/site-packages
Requires: dnspython
Required-by: 
leus@leus-System-Product-Name:~/aibo_ws/src/jsk_demos/database_talker$
k-okada commented 7 months ago
a-ichikura commented 7 months ago

ありがとうございます。

他に影響がなければ pip uninstall bson して apt install python3-bson です。pymongoも同様にpip　ではなくてaptで動作確認しています。どうしても、pipが良ければ／必要であれば、やり方考えるので教えてください。

pip である必要はないので、aptで入れ直したのですが同じエラーでした…

$ rosrun database_talker make_diary.py --prompt-type personality
<string>:869: SyntaxWarning: "is not" with a literal. Did you mean "!="?
<string>:872: SyntaxWarning: "is" with a literal. Did you mean "=="?
Traceback (most recent call last):
  File "/home/leus/aibo_ws/src/jsk_demos/database_talker/scripts/make_diary.py", line 13, in <module>
    from database_talker import DatabaseTalkerBase
  File "/home/leus/aibo_ws/devel/lib/python3/dist-packages/database_talker/__init__.py", line 34, in <module>
    exec(__fh.read())
  File "<string>", line 10, in <module>
ImportError: cannot import name 'json_util' from 'bson' (/home/leus/aibo_ws/devel/.private/database_talker/share/database_talker/venv/lib/python3.8/site-packages/bson/__init__.py)
$ pip show bson
WARNING: Package(s) not found: bson
$ apt show python3-bson
Package: python3-bson
Version: 3.10.1-0ubuntu2
Priority: optional
Section: python
Source: pymongo
Origin: Ubuntu
Maintainer: Ubuntu Developers <ubuntu-devel-discuss@lists.ubuntu.com>
Original-Maintainer: Federico Ceratto <federico@debian.org>
Bugs: https://bugs.launchpad.net/ubuntu/+filebug
Installed-Size: 214 kB
Depends: python3:any
Recommends: python3-bson-ext
Homepage: https://api.mongodb.org/python/
Download-Size: 34.8 kB
APT-Manual-Installed: yes
APT-Sources: http://jp.archive.ubuntu.com/ubuntu focal/main amd64 Packages
Description: Python3 implementation of BSON for MongoDB
 BSON Python3 module contains all of the Binary JSON encoding and decoding
 logic for MongoDB.
$ apt show python3-pymongo
Package: python3-pymongo
Version: 3.10.1-0ubuntu2
Priority: optional
Section: python
Source: pymongo
Origin: Ubuntu
Maintainer: Ubuntu Developers <ubuntu-devel-discuss@lists.ubuntu.com>
Original-Maintainer: Federico Ceratto <federico@debian.org>
Bugs: https://bugs.launchpad.net/ubuntu/+filebug
Installed-Size: 1,058 kB
Depends: python3-bson (= 3.10.1-0ubuntu2), python3:any
Recommends: python3-gridfs (>= 3.10.1-0ubuntu2), python3-pymongo-ext
Suggests: python-pymongo-doc
Homepage: https://api.mongodb.org/python/
Download-Size: 162 kB
APT-Manual-Installed: yes
APT-Sources: http://jp.archive.ubuntu.com/ubuntu focal/main amd64 Packages
Description: Python3 interface to the MongoDB document-oriented database
 MongoDB is a high-performance, open source, schema-free
 document-oriented data store. Pymongo provides an interface
 to easily access it from Python3.
 Consider installing the python3-pymongo-ext C extension to improve performance.

[ERROR] [1712115706.826584841]: Cannot identify '/dev/video0': 2, No such file or directory このサンプルはPC+PCにUSBカメラがつながっている前提ですので、USBカメラをつなげてみてください。

デスクトップで試していたので、webカメラを指したらエラーなくなりました。ありがとうございます。

k-okada commented 7 months ago

ごめんなさい

roscd database_talker
./scripts/make_diary.py （必要なオプション）

で動くとおもいます．rosrun ...で動かすには，git pullか何かでソースを新しくして

 catkin clean database_talker ; catkin build database_talker --start-with database_talker -vi

としてみて下さい．

a-ichikura commented 7 months ago 
$ git status
On branch PR/hoge-py
Your branch is up to date with 'origin/PR/hoge-py'.

nothing to commit, working tree clean

$ git log
commit 627827226b29beea36d9eafa4e09dca9ad749d7c (HEAD -> PR/hoge-py, origin/PR/hoge-py)
Author: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date:   Wed Apr 3 18:01:14 2024 +0900

    use USE_SYSTEM_PACKAGES FALSE to avoid bson error

したのですが、

$ python3 ./scripts/make_diary.py --prompt-type personality
<string>:869: SyntaxWarning: "is not" with a literal. Did you mean "!="?
<string>:872: SyntaxWarning: "is" with a literal. Did you mean "=="?
Traceback (most recent call last):
  File "./scripts/make_diary.py", line 13, in <module>
    from database_talker import DatabaseTalkerBase
  File "/home/leus/aibo_ws/devel/lib/python3/dist-packages/database_talker/__init__.py", line 34, in <module>
    exec(__fh.read())
  File "<string>", line 44, in <module>
ModuleNotFoundError: No module named 'mongodb_store'
$ rosrun database_talker make_diary.py --prompt-type personality
<string>:869: SyntaxWarning: "is not" with a literal. Did you mean "!="?
<string>:872: SyntaxWarning: "is" with a literal. Did you mean "=="?
Traceback (most recent call last):
  File "/home/leus/aibo_ws/src/jsk_demos/database_talker/scripts/make_diary.py", line 13, in <module>
    from database_talker import DatabaseTalkerBase
  File "/home/leus/aibo_ws/devel/lib/python3/dist-packages/database_talker/__init__.py", line 34, in <module>
    exec(__fh.read())
  File "<string>", line 44, in <module>
ModuleNotFoundError: No module named 'mongodb_store'

どちらも同じエラー（mongodb_storeがない）になりました。

catkin clean database_talker ; catkin build database_talker --start-with database_talker -vi としてみて下さい． ここは実行済みです。

k-okada commented 7 months ago

roscd database_talkerしたところで rosdep install --from-path . --ignore-src してみてください apt install ros-noetic-mongodb-store が走ると思うんだけど．．

a-ichikura commented 7 months ago

ありがとうございます。 できました！


Dear diary,

Today, I saw something super cool on a screen! It was all glitchy and looked like a puzzle. I haven't seen something like that in a long time, like 7 days! It was so fascinating to watch. I wish I could make something like that too!

From,
Dummy
水 03  4月 2024
[INFO] [1712139050.554929]: response = ぼくの日記、

今日、画面ですごくかっこいいものを見たよ！それは全部グリッチしてて、パズルみたいだった。ぼくはもう7日間ぐらい見てなかったよ！見てるのがすごく面白かった。ぼくもあんなもの作れた
らいいな！

ダミー より

tmp8p995a9b

k-okada commented 7 months ago

あれ？カメラ変？rqt_image_view でも同じ画像になっている？

a-ichikura commented 7 months ago

変ですね‥webカメラ変えたら正常になったので、カメラが問題のような気がします。

プログラムは正常です。

k-okada commented 7 months ago

変ですね‥webカメラ変えたら正常になったので、カメラが問題のような気がします。

エンコード関係かもしれないですね。Windowsとかでカメラつなげて、Zoom？か何かで見てみて、ちゃんと写っているなら、カメラ問題ではなくて、ソフトウェア側の問題だと切り分けられます。

https://github.com/sktometometo/jsk_demos/blob/c361fd491a22f9a52358f62b350c0b900a0a628b/database_talker/sample/sample.launch#L18-L19 https://github.com/ros-drivers/usb_cam?tab=readme-ov-file#device-supported-formats