[naoqi_apps] add node and launch for ALListeningMovement

[kochigami]

This is for http://doc.aldebaran.com/2-4/naoqi/interaction/autonomousabilities/allisteningmovement-api.html#allisteningmovement-api.

memo:

• It needs SetEnabled.srv in https://github.com/ros-naoqi/naoqi_bridge_msgs/pull/30
• IsActive.srv is in ALTracker related pull-request, (https://github.com/ros-naoqi/naoqi_bridge_msgs/pull/27) and I'm thinking that I have to rename it for general use.
• It is something wrong with isRunning method.

  rosservice call /listening_movement_is_running
  [ERROR] [WallTime: 1478745757.759069] Error processing request: proxy_isRunning() takes exactly 2 arguments (1 given)
  ['Traceback (most recent call last):\n', '  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 623, in _handle_request\n    response = convert_return_to_response(self.handler(request), self.response_class)\n', '  File "/home/kochigami/catkin_ws/src/naoqi_bridge/naoqi_apps/nodes/naoqi_listening_movement.py", line 66, in handleIsRunningSrv\n    res.status = self.listeningMovementProxy.isRunning()\n', '  File "/home/kochigami/naoqi/pynaoqi-python2.7-2.1.0.19-linux64/inaoqi.py", line 326, in isRunning\n    def isRunning(self, *args): return _inaoqi.proxy_isRunning(self, *args)\n', 'TypeError: proxy_isRunning() takes exactly 2 arguments (1 given)\n']

[kochigami]

• SetEnabled.srv in ros-naoqi/naoqi_bridge_msgs#30 replaced by std_srvs/SetBool based on the advice in https://github.com/ros-naoqi/naoqi_bridge_msgs/pull/30

• IsActive.srv replaced by std_srvs/Trigger

• isRunning I deleted it.

[kochigami]

• delete self.run() because it is not used

confirmed with:

• [x] Pepper + ros indigo
• [x] Pepper + ros kinetic
• [x] NAO + ros indigo
• [x] NAO + ros kinetic

[kochigami]

When I use NAO, this doesn't work. That is because the latest NAOqi version for NAO is 2.1.4, which doesn't have a proxy to ALListeningMovement.

I added lines for checking NAOqi version ~and robot type~, ~but this is work in progress~. ref: http://doc.aldebaran.com/2-5/family/body_type.html?highlight=alrobotmodel http://doc.aldebaran.com/2-1/naoqi/motion/tools-general-api.html#ALMotionProxy::getRobotConfig

[edit] I finished adding lines for checking naoqi version. I decided to check naoqi sdk version inside a robot via ALSystem API (systemVersion). ref: http://doc.aldebaran.com/2-4/naoqi/core/alsystem-api.html#alsystem-api

[nlyubova]

Thank you!