Merge branch 'master' into fetch15

.gitmodules

@@ -1,3 +1,3 @@
 [submodule ".travis"]
 	path = .travis
-	url = git://github.com/jsk-ros-pkg/jsk_travis
+	url = https://github.com/jsk-ros-pkg/jsk_travis

chaplus_ros/package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>chaplus_ros</name>
   <version>2.1.24</version>
   <description>The ROS package for chaplus service</description>
@@ -12,8 +12,8 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <exec_depend>rospy</exec_depend>
-  <exec_depend>python-requests</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-requests</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-requests</exec_depend>
   <exec_depend>rospy</exec_depend>
 
   <export>

gdrive_ros/CMakeLists.txt

@@ -2,10 +2,13 @@ cmake_minimum_required(VERSION 2.8.3)
 project(gdrive_ros)
 
 find_package(catkin REQUIRED COMPONENTS
+  rospy
   std_msgs
   message_generation
 )
 
+catkin_python_setup()
+
 add_service_files(
   FILES
   Upload.srv
@@ -22,12 +25,20 @@ catkin_package(
   message_runtime
 )
 
-install(DIRECTORY node_scripts
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+catkin_install_python(PROGRAMS node_scripts/gdrive_server_node.py node_scripts/sample_gdrive_rospy_client.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS
 )
 
-install(DIRECTORY launch
+install(DIRECTORY sample
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS
+)
+
+install(DIRECTORY euslisp
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS
 )

gdrive_ros/euslisp/gdrive-ros-utils.l

@@ -0,0 +1,55 @@
+(ros::load-ros-manifest "gdrive_ros")
+
+(defun wait-for-gdrive-server (&rest args)
+  (if args
+      (ros::wait-for-service "/gdrive_server/upload" args)
+    (ros::wait-for-service "/gdrive_server/upload")
+    )
+  )
+
+(defun upload-file (file-path
+                    file-title
+                    &key
+                    (parents-path nil)
+                    (parents-id nil)
+                    (use-timestamp-folder nil)
+                    (use-timestamp-file-title nil))
+  (let ((req (instance gdrive_ros::UploadRequest :init))
+        (res nil))
+    (send req :file_path file-path)
+    (send req :file_title file-title)
+    (send req :parents_path parents-path)
+    (send req :parents_id parents-id)
+    (send req :use_timestamp_folder use-timestamp-folder)
+    (send req :use_timestamp_file_title use-timestamp-file-title)
+    (setq res (ros::service-call "/gdrive_server/upload" req t))
+    (list (send res :success)
+          (send res :file_id)
+          (send res :file_url)
+          (send res :parents_id)
+          (send res :parents_url))
+    ))
+
+(defun upload-multiple-files
+                   (file-paths
+                    file-titles
+                    &key
+                    (parents-path nil)
+                    (parents-id nil)
+                    (use-timestamp-folder nil)
+                    (use-timestamp-file-title nil))
+  (let ((req (instance gdrive_ros::MultipleUploadRequest :init))
+        (res nil))
+    (send req :file_paths file-paths)
+    (send req :file_titles file-titles)
+    (send req :parents_path parents-path)
+    (send req :parents_id parents-id)
+    (send req :use_timestamp_folder use-timestamp-folder)
+    (send req :use_timestamp_file_title use-timestamp-file-title)
+    (setq res (ros::service-call "/gdrive_server/upload_multi" req t))
+    (list (send res :successes)
+          (send res :file_ids)
+          (send res :file_urls)
+          (send res :parents_id)
+          (send res :parents_url))
+    ))

gdrive_ros/euslisp/sample-gdrive-roseus-client.l

@@ -0,0 +1,23 @@
+#!/usr/bin/env roseus
+
+(require "package://gdrive_ros/euslisp/gdrive-ros-utils.l")
+
+(ros::roseus "sample_gdrive_roseus_client")
+
+(wait-for-gdrive-server)
+(ros::ros-info "Gdrive server ready.")
+
+(setq file-name (ros::get-param "~file_name"))
+(setq file-title (ros::get-param "~file_title"))
+(setq parents-path (ros::get-param "~parents_path"))
+
+(ros::ros-info "Uploading files...")
+(setq res (upload-file file-name file-title :parents-path parents-path))
+(ros::ros-info "Response: ~A" res)
+
+(ros::ros-info "Uploading multiple files...")
+(setq res (upload-multiple-files (list file-name) (list file-title) :parents-path parents-path))
+(ros::ros-info "Response: ~A" res)
+
+(ros::roseus "shutdown")
+(exit)

gdrive_ros/node_scripts/sample_gdrive_rospy_client.py

@@ -0,0 +1,31 @@
+#!/usr/bin/env python
+
+import rospy
+from gdrive_ros.gdrive_ros_client import GDriveROSClient
+
+
+def main():
+
+    rospy.init_node('sample_gdrive_rospy_client')
+
+    file_name = rospy.get_param('~file_name')
+    file_title = rospy.get_param('~file_title')
+    parents_path = rospy.get_param('~parents_path')
+
+    client = GDriveROSClient()
+
+    client.wait_for_gdrive_server()
+
+    rospy.loginfo('Uploading files...')
+    ret = client.upload_file(file_name, file_title, parents_path=parents_path)
+    rospy.loginfo('Result: {}'.format(ret))
+
+    rospy.loginfo('Uploading files...')
+    ret = client.upload_multiple_files([file_name], [file_title], parents_path=parents_path)
+    rospy.loginfo('Result: {}'.format(ret))
+
+    rospy.loginfo('Successfully finished.')
+
+
+if __name__=='__main__':
+    main()

gdrive_ros/package.xml

@@ -13,8 +13,10 @@
   <url type="bugtracker">https://github.com/jsk-ros-pkg/jsk_3rdparty/issues</url>
 
   <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
   <build_depend>message_generation</build_depend>
   <build_depend>std_msgs</build_depend>
+  <run_depend>rospy</run_depend>
   <run_depend>message_runtime</run_depend>
   <run_depend>pydrive-pip</run_depend>
 

gdrive_ros/sample/sample_roseus_client.launch

@@ -0,0 +1,16 @@
+<launch>
+  <arg name="file_name" />
+  <arg name="file_title" />
+  <arg name="parents_path" default="/example_folder" />
+
+  <include file="$(find gdrive_ros)/launch/gdrive_server.launch" />
+
+  <node name="sample_gdrive_roseus_client" pkg="gdrive_ros" type="sample-gdrive-roseus-client.l"
+      output="screen" required="true">
+    <rosparam subst_value="true">
+        file_name: $(arg file_name)
+        file_title: $(arg file_title)
+        parents_path: $(arg parents_path)
+    </rosparam>
+  </node>
+</launch>

gdrive_ros/sample/sample_rospy_client.launch

@@ -0,0 +1,16 @@
+<launch>
+  <arg name="file_name" />
+  <arg name="file_title" />
+  <arg name="parents_path" default="/example_folder" />
+
+  <include file="$(find gdrive_ros)/launch/gdrive_server.launch" />
+
+  <node name="sample_gdrive_rospy_client" pkg="gdrive_ros" type="sample_gdrive_rospy_client.py"
+      output="screen" required="true">
+    <rosparam subst_value="true">
+        file_name: $(arg file_name)
+        file_title: $(arg file_title)
+        parents_path: $(arg parents_path)
+    </rosparam>
+  </node>
+</launch>

gdrive_ros/setup.py

@@ -0,0 +1,9 @@
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['gdrive_ros'],
+    package_dir={'': 'src'}
+)
+
+setup(**d)

gdrive_ros/src/gdrive_ros/gdrive_ros_client.py

@@ -0,0 +1,82 @@
+import rospy
+from gdrive_ros.srv import MultipleUpload
+from gdrive_ros.srv import MultipleUploadRequest
+from gdrive_ros.srv import Upload
+from gdrive_ros.srv import UploadRequest
+
+
+class GDriveROSClient:
+
+    def __init__(self):
+
+        self.srv_upload = rospy.ServiceProxy(
+                '/gdrive_server/upload',
+                Upload
+                )
+        self.srv_upload_multi = rospy.ServiceProxy(
+                '/gdrive_server/upload_multi',
+                MultipleUpload
+                )
+
+    def wait_for_gdrive_server(self,timeout=None):
+        if timeout is None:
+            rospy.wait_for_service('/gdrive_server/upload')
+            rospy.wait_for_service('/gdrive_server/upload_multi')
+
+        try:
+            rospy.wait_for_service('/gdrive_server/upload', timeout=timeout)
+            rospy.wait_for_service('/gdrive_server/upload_multi', timeout=timeout)
+            return True
+        except rospy.ROSException as e:
+            rospy.logerr('Error: {}'.format(e))
+            return False
+
+    def upload_file(self,
+               file_path,
+               file_title,
+               parents_path='',
+               parents_id='',
+               use_timestamp_folder=False,
+               use_timestamp_file_title=False
+               ):
+        #
+        req = UploadRequest()
+        req.file_path = file_path
+        req.file_title = file_title
+        req.parents_path = parents_path
+        req.parents_id = parents_id
+        req.use_timestamp_folder = use_timestamp_folder
+        req.use_timestamp_file_title = use_timestamp_file_title
+        #
+        res = self.srv_upload(req)
+        #
+        return (res.success,
+                res.file_id,
+                res.file_url,
+                res.parents_id,
+                res.parents_url)
+
+    def upload_multiple_files(self,
+                              file_paths,
+                              file_titles,
+                              parents_path='',
+                              parents_id='',
+                              use_timestamp_folder=False,
+                              use_timestamp_file_title=False
+                              ):
+        #
+        req = MultipleUploadRequest()
+        req.file_paths = file_paths
+        req.file_titles = file_titles
+        req.parents_path = parents_path
+        req.parents_id = parents_id
+        req.use_timestamp_folder = use_timestamp_folder
+        req.use_timestamp_file_title = use_timestamp_file_title
+        #
+        res = self.srv_upload_multi(req)
+        #
+        return (res.successes,
+                res.file_ids,
+                res.file_urls,
+                res.parents_id,
+                res.parents_url)

respeaker_ros/scripts/respeaker_gencfg.py

@@ -4,12 +4,13 @@
 
 import os
 import sys
-from respeaker_node import PARAMETERS, init_respeaker
+from respeaker_node import PARAMETERS, RespeakerInterface
 
 
 def main(out):
-    dev = init_respeaker()
-    if not dev:
+    try:
+        dev = RespeakerInterface()
+    except RuntimeError as e:
         print('No device found. Please connect a device.')
         return
     with open(out, "w") as f:

switchbot_ros/README.md

@@ -15,7 +15,9 @@ JSK members can edit the original file [here](https://docs.google.com/presentati
 Especially, please set your device name and enable cloud service.
 
 3. Get your token  
-On switchbot App, profile -> settings, and press `version` for 10 times and you can get token. For JSK members, we already have shared one [here](https://drive.google.com/file/d/1YZ4P4aaPemB_umB9S0xDG66BJt59-2lz/view?usp=sharing).
+On switchbot App, profile -> settings, and press `version` for 10 times and you can get token.
+
+For JSK members, please see [this slide](https://docs.google.com/presentation/d/11UkuxVT4u_LcAYJQnPvt4mzxos9Qvflth5hgZmtqmyk/edit?usp=sharing) for account and token details and installed switchbots for our lab.
 
 ### Using switchbot ros
 Execute `roslaunch switchbot_ros switchbot.launch token:=YOUR_TOKEN` and publish ActionGoal.

switchbot_ros/package.xml

@@ -15,7 +15,7 @@
 
   <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-requests</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-requests</exec_depend>
-  <exec_depend>message_exectime</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
   <exec_depend>rospy</exec_depend>
   <exec_depend>std_msgs</exec_depend>
 

switchbot_ros/scripts/switchbot_ros_server.py

@@ -27,7 +27,10 @@ def __init__(self):
         try:
             self.bots = SwitchBotAPIClient(token=self.token)
             device_list_str = 'Switchbot device list:\n'
-            for device in self.bots.device_list:
+            device_list = sorted(
+                self.bots.device_list,
+                key=lambda device: str(device['deviceName']))
+            for device in device_list:
                 device_list_str += 'Name: ' + str(device['deviceName'])
                 device_list_str += ', Type: ' + str(device['deviceType'])
                 device_list_str += '\n'