[jsk_pepper_startup] want to add speech function when launch is killed

[kochigami]

I'd like to add speech (or movement) function which can tell when jsk_pepper_startup.launch is killed. I think it is very useful when I have to be near Pepper, not my PC in demo time.

However, I'm not sure how to do or google it. Could anyone help me? Is there any command which can observe whether ros node is alive or not ?

[furushchev]

my proposal is

• create node that uses signal hook to speech (e.g. rospy.on_shutdown )
• define the node as 'required' in launch file

this should work only when speech engine is available even without startup.launch. If not so, you may need to add code to speech on shutdown in speech node. 2016年9月24日(土) 15:08 Kanae Kochigami notifications@github.com:

I'd like to add speech (or movement) function which can tell when jsk_pepper_startup.launch is killed. I think it is very useful when I have to be near Pepper, not my PC in demo time.

However, I'm not sure how to do or google it. Could anyone help me? Is there any command which can observe whether ros node is alive or not ?

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[kochigami]

@furushchev
Thank you very much for your comment. It really helped. I'll test my program tomorrow and send a pull-request for it.

(Memo for me: http://wiki.ros.org/rospy/Overview/Initialization%20and%20Shutdown)

[k-okada]

I think you knowthe jsk_pepper_startup is started when pepper talks "じょいくらんと" at https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_naoqi_robot/jsk_pepper_startup/nodes/joy-client.l#L84 and would like to notified when he stops the code. I think easies way is to re-define ros::roseus-sigint-handler which is called when roseus program receives C-c and speaks something https://gist.github.com/k-okada/a8cfe74d77015f2c76b4f451edfbd633

Otherwise we'd add this feature to naoqi_driver.

◉ Kei Okada

2016-09-25 23:04 GMT+09:00 Kanae Kochigami notifications@github.com:

@furushchev https://github.com/furushchev

Thank you very much for your comment. It really helped. I'll test my program tomorrow and send a pull-request for it.

(Memo for me: http://wiki.ros.org/rospy/Overview/Initialization%20and% 20Shutdown)

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[kochigami]

@k-okada

Thank you very much for your comment. Would you mind if I ask one more question? I'm not sure how to use ros::roseus-sigint-handler in your gist code.

I added ros::roseus-sigint-handler like https://gist.github.com/kochigami/49b4132dbc47e318c319b5db8db20251

However, the result didn't seem to show executing ros::roseus-sigint-handler after pushing C-c.

[ INFO] [1474864440.431225535]: msg [hello world #i(1474864440 431146746)]
[ INFO] [1474864440.441172183]: msg [hello world #i(1474864440 441139942)]
[ INFO] [1474864440.451171301]: msg [hello world #i(1474864440 451131030)]
[ INFO] [1474864440.461170802]: msg [hello world #i(1474864440 461130000)]
^Cinterrupt1.B1-irteusgl$ 

rostopic echo /chatter finishes

data: hello world #i(1474864440 441139942)
---
data: hello world #i(1474864440 451131030)
---
data: hello world #i(1474864440 461130000)
---

[kochigami]

I couldn't find the correct way of using ros::roseus-sigint-handlerbecause of my low ability. I have to continue studying it.

However, demo time is approaching. Therefore I made another pull-request just in case (https://github.com/jsk-ros-pkg/jsk_robot/pull/666). Once I learned how to use ros::roseus-sigint-handler, I'll update it.

[k-okada]

1: you do not need (ros::roseus-sigint-handler ros::sig ros::code) at the end of code, this code is 'signal handler', called whenever sigint occurs, and this does not have to call explictly from your main code 2: you have to create launch file and start you code, put your code under /tmp and run from roslaunch with --screen option, and hit C-c, you'll see the result

$ cat hoge.launch
<launch>
  <node pkg="roseus" type="roseus" name="talker"
        args="/tmp/talker.l" />
</launch>
$ roslaunch --screen hoge.launch

3: this is very complicating, but C-c on euslisp interpreter did not call 'signal handler' , it just calls https://github.com/jsk-ros-pkg/jsk_roseus/blob/1.5.3/roseus/roseus.cpp#L505 and ros::roseus-sigint-handler only enabled when you start lisp code from launch file https://github.com/jsk-ros-pkg/jsk_roseus/blob/1.5.3/roseus/euslisp/roseus.l#L30

[kochigami]

Thank you very much for your help. I could update the pull-request to use roseus-sigint-handler and then I'll study roseus.l and roseus.cpp.

@furushchev @k-okada Thank you very much for your kind help again.