Commit eb044074 authored by Séverin Lemaignan's avatar Séverin Lemaignan
Browse files

Initial commit of the humans_server

- publishes every sec the list of known humans
- exposes the service 'select_humans' and 'update_human' to add/query the database
- 'update_human' is not implemented yet

The implementation relies on sqlite.
parents
Pipeline #264 canceled with stages
cmake_minimum_required(VERSION 2.8.3)
project(humans_server)
find_package(catkin REQUIRED COMPONENTS
rospy
std_msgs
)
find_package(sqlite REQUIRED)
catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES humans_server
# CATKIN_DEPENDS rospy std_msgs
# DEPENDS sqlite
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
# TODO: Check names of system library include directories (sqlite)
${sqlite_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/humans_server.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/humans_server_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# ${sqlite_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_humans_server.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
#! /usr/bin/python3
"""
gender: 0: female; 1: male;
native_language: use IETF language tag (like en_GB) -- https://en.wikipedia.org/wiki/IETF_language_tag
"""
import rospy
import sqlite3
import datetime
import time
from functools import partial
from hri_msgs.msg import Person, Group
from hri_msgs.srv import *
TABLE_NAME="humans"
def create_schema(conn):
c = conn.cursor()
c.execute('''CREATE TABLE %s
(person_id TEXT UNIQUE,
face_id TEXT UNIQUE,
body_id TEXT UNIQUE,
last_seen DATETIME,
name TEXT,
age INT,
age_confidence REAL,
gender INT,
gender_confidence REAL,
native_language TEXT
)''' % TABLE_NAME)
conn.commit()
def execute_query(conn, query=None):
c = conn.cursor()
if query:
c.execute('SELECT * FROM humans WHERE %s' % query) # not safe to SQL injections, but not sure how I'm supposed to do that...
else:
c.execute('SELECT * FROM humans')
return c.fetchall()
def create_record(conn, query):
c = conn.cursor()
c.execute("INSERT INTO humans VALUES (?,?,?,?,?,?,?,?,?,?)")
conn.commit()
def select_humans(conn, query=None):
records = execute_query(conn, query)
return make_group_msg(records)
def make_group_msg(records):
group = Group()
for r in records:
person=Person()
if r[0]:
person.person_id = r[0].encode()
if r[1]:
person.face_id = r[1].encode()
if r[2]:
person.body_id = r[2].encode()
if r[3]:
ts = time.mktime(datetime.datetime.strptime(r[3], "%Y-%m-%d %H:%M:%S.%f").timetuple())
person.last_seen = rospy.rostime.Time.from_seconds(ts)
if r[4]:
person.name = r[4].encode()
if r[5]:
person.age = r[5]
if r[6]:
person.age_confidence = r[6]
if r[7]:
person.gender = r[7]
if r[8]:
person.gender_confidence = r[8]
if r[9]:
person.native_language = r[9].encode()
group.group.append(person)
return group
def handle_select_humans(conn, arg):
return SelectHumansResponse(select_humans(conn, arg.query).group)
def handle_update_human(conn, arg):
print("Update -> %s" % arg)
face_id = arg.person.face_id
body_id = arg.person.body_id
person_id = arg.person.person_id
return UpdateHumanResponse(True)
if __name__ == "__main__":
conn = sqlite3.connect('humans_server.db', check_same_thread=False)
rospy.init_node('humans_server')
humans_pub = rospy.Publisher('humans', Group, queue_size=10)
select_service = rospy.Service('select_humans', SelectHumans, partial(handle_select_humans, conn))
update_service = rospy.Service('update_human', UpdateHuman, partial(handle_update_human, conn))
c = conn.cursor()
statement = "SELECT name FROM sqlite_master WHERE type='table';"
if (TABLE_NAME,) in c.execute(statement).fetchall():
rospy.loginfo("Table %s already exists. Good" % TABLE_NAME)
else:
rospy.logwarn("Table %s does not yet exist. Creating it." % TABLE_NAME)
create_schema(conn)
rate = rospy.Rate(1) # 1hz
while not rospy.is_shutdown():
group = select_humans(conn)
humans_pub.publish(group)
rate.sleep()
conn.close()
<?xml version="1.0"?>
<package format="2">
<name>humans_server</name>
<version>0.1.0</version>
<description>A database maintaining consistent informations about known humans in the vicinity of the robot</description>
<maintainer email="severin.lemaignan@brl.ac.uk">Séverin Lemaignan</maintainer>
<license>MIT</license>
<url type="website">http://wiki.ros.org/humans_server</url>
<author email="severin.lemaignan@brl.ac.uk">Séverin Lemaignan</author>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>rospy</build_depend>
<build_depend>sqlite</build_depend>
<build_depend>std_msgs</build_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>sqlite</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>sqlite</exec_depend>
<exec_depend>std_msgs</exec_depend>
</package>
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