[naoqi_apps] add node and launch for ALEngagementZones

[kochigami]

I followed http://doc.aldebaran.com/2-4/naoqi/peopleperception/alengagementzones-api.html#alengagementzones-api and this requires ros-naoqi/naoqi_bridge_msgs#26

Even though it is working, but I'd like to have time to check and modify it later. If there is any problem, please let me know.

services:

• /compute_engagement_zone_by_3dcoords for ALEngagementZonesProxy::computeEngagementZone uses ComputeEngagementZoneBasedOn3DCoordinates.srv
• /compute_engagement_zone_by_angular_coords for ALEngagementZonesProxy::computeEngagementZone uses ComputeEngagementZoneBasedOnAngularCoordinates.srv
• /get_first_limit_distance for ALEngagementZonesProxy::getFirstLimitDistance uses GetFirstLimitDistance.srv
• /get_limit_angle for ALEngagementZonesProxy::getLimitAngle uses GetLimitAngle.srv
• /get_second_limit_distance for ALEngagementZonesProxy::getSecondLimitDistance uses GetSecondLimitDistance.srv
• /set_first_limit_distance for ALEngagementZonesProxy::setFirstLimitDistance uses SetFirstLimitDistance.srv
• /set_limit_angle for ALEngagementZonesProxy::setLimitAngle uses SetLimitAngle.srv
• /set_second_limit_distance for ALEngagementZonesProxy::setSecondLimitDistance uses SetSecondLimitDistance.srv

topics:

• /engagement_zone_by_person for PeoplePerception/Person/<ID>/EngagementZone uses EngagementZoneOfPerson.msg
• /first_limit_distance_updated for EngagementZones/FirstLimitDistanceUpdated() (uses Float64.msg)
• /last_movements_in_zone1 for EngagementZones/LastMovementsInZone1 uses MovementInfo.msg
• /last_movements_in_zone2 EngagementZones/LastMovementsInZone2 uses MovementInfo.msg
• /last_movements_in_zone3 EngagementZones/LastMovementsInZone3 uses MovementInfo.msg
• /limit_angle_updated for EngagementZones/LimitAngleUpdated() (uses Float64.msg)
• /movements_in_zone_updated for EngagementZones/MovementsInZonesUpdated() (uses Bool.msg)
• /people_in_zone1 for EngagementZones/PeopleInZone1 (uses Int64MultiArray.msg)
• /people_in_zone2 for EngagementZones/PeopleInZone2 (uses Int64MultiArray.msg)
• /people_in_zone3 for EngagementZones/PeopleInZone3 (uses Int64MultiArray.msg)
• /people_in_zones_updated for EngagementZones/PeopleInZonesUpdated() (uses Bool.msg)
• /person_approached for EngagementZones/PersonApproached() (uses Int64.msg)
• /person_entered_zone1 for EngagementZones/PersonEnteredZone1() (uses Int64.msg)
• /person_entered_zone2 for EngagementZones/PersonEnteredZone2() (uses Int64.msg)
• /person_entered_zone3 for EngagementZones/PersonEnteredZone3() (uses Int64.msg)
• /person_moved_away for EngagementZones/PersonMovedAway() (uses Int64.msg)
• /second_limit_distance_updated for EngagementZones/SecondLimitDistanceUpdated() (uses Float64.msg)

[kochigami]

• delete self.run() which publishes topics => I separated the function to https://github.com/ros-naoqi/naoqi_bridge/pull/89
• keep services, but used srv files are replaced from naoqi_bridge_msgs (https://github.com/ros-naoqi/naoqi_bridge_msgs/pull/26) to std_srvs and naoqi_bridge_msgs (https://github.com/ros-naoqi/naoqi_bridge_msgs/pull/37, https://github.com/ros-naoqi/naoqi_bridge_msgs/pull/26)
• This requires https://github.com/ros-naoqi/naoqi_bridge_msgs/pull/37 and https://github.com/ros-naoqi/naoqi_bridge_msgs/pull/26.

I just tested with Pepper (Naoqi 2.5.5.5)+ ROS indigo.

[kochigami]

I tested this with

• [x] Pepper (NAOqi 2.5.5.5) + ROS indigo
• [x] Pepper (NAOqi 2.5.5.5) + ROS kinetic
• [x] NAO (NAOqi 2.1.4) + ROS indigo
• [x] NAO (NAOqi 2.1.4) + ROS kinetic

[kochigami]

This is a new feature, which may cause unexpected trouble when it is merged. I close this and improve this in my local. I'm sorry to leave this for a long time.