Merge branch 'master' into eye_display

Author: k-okada

.github/workflows/config.yml

@@ -205,26 +205,19 @@ jobs:
         run: |
           rm -fr ${{ matrix.ROS_DISTRO }}-${{ github.run_number }}-${{ github.run_attempt }}-${{ github.run_id }} || echo "OK"
 
+
   # ROS-O setup for v4hn https://github.com/v4hn/ros-o-builder/blob/jammy-one/README.md#install-instructions
   # ROS-O setup for techfak https://ros.packages.techfak.net/
   # note that v4hn uses ROS_DISTRO=one and techfak uses ROS_DISTRO
   ros-o:
-    runs-on: ubuntu-latest
-
     strategy:
       fail-fast: false
       matrix:
-        include:
-          - DISTRO: ubuntu:22.04
-            ROS_ONE_VARIANT: v4hn
-            ROS_REPOSITORY_URL: "deb [trusted=yes] https://raw.githubusercontent.com/v4hn/ros-o-builder/jammy-one/repository ./"
-            ROSDEP_PACKAGE_MAPPING: "yaml https://raw.githubusercontent.com/v4hn/ros-o-builder/jammy-one/repository/local.yaml debian"
-          - DISTRO: ubuntu:24.04
-            ROS_ONE_VARIANT: techfak
-            ROS_REPOSITORY_URL: "deb [trusted=yes] https://ros.packages.techfak.net noble-testing main"
-            ROSDEP_PACKAGE_MAPPING: "yaml https://ros.packages.techfak.net/ros-one.yaml ubuntu"
+        DEB_DISTRO: [22.04, 24.04]
+        ARCH: [x64, arm64]
+        ROS_ONE_VARIANT: [techfak]
 
-    container: ${{ matrix.DISTRO }}
+    runs-on: ${{ matrix.ARCH == 'x64' && format('ubuntu-{0}', matrix.DEB_DISTRO) || (matrix.ARCH == 'arm64' && format('ubuntu-{0}-arm', matrix.DEB_DISTRO) || format('ubuntu-{0}', matrix.DEB_DISTRO)) }}
 
     env:
       DEBIAN_FRONTEND : noninteractive
@@ -236,40 +229,48 @@ jobs:
       - name: Setup ROS-O deb repository
         run: |
           set -x
-          apt update && apt install -qq -y ca-certificates git
-          echo ${{ matrix.ROS_REPOSITORY_URL }} | tee /etc/apt/sources.list.d/ros-o-builder.list
+          sudo apt update && sudo apt install -qq -y ca-certificates git
+          if [[ "${{ matrix.DEB_DISTRO }}" == "22.04" ]]; then export CODE_NAME="jammy"; fi
+          if [[ "${{ matrix.DEB_DISTRO }}" == "24.04" ]]; then export CODE_NAME="noble"; fi
+          echo "deb [trusted=yes] https://ros.packages.techfak.net $CODE_NAME-testing main" | sudo tee /etc/apt/sources.list.d/ros-o-builder.list
           ##
           # https://github.com/v4hn/ros-deb-builder-action/blob/b7c0ed93fde3a86b5b1027bf8f7145cad6067c90/prepare.sh#L27-L28
           # Canonical dropped the Debian ROS packages from 24.04 for political reasons. Wow.
           if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" && "${{ matrix.DISTRO }}" == "ubuntu:24.04" ]]; then apt install -y software-properties-common retry && retry -d 50,10,30,300 -t 12 add-apt-repository -y ppa:v-launchpad-jochen-sprickerhof-de/ros; fi
           ##
-          apt update
+          sudo apt update
           if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" ]]; then
-              apt install -qq -y python3-rosdep2
+              sudo apt install -qq -y python3-rosdep2
           fi
           if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "techfak"  ]]; then
               # Do not install python3-rosdep2, which is an outdated version of rosdep shipped via the Ubuntu repositories (instead of ROS)!
-              apt install -qq -y python3-rosdep
-              rosdep init
+              sudo apt install -qq -y python3-rosdep
+              sudo rosdep init
+          fi
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" ]]; then
+              export ROSDEP_PACKAGE_MAPPING="yaml https://raw.githubusercontent.com/v4hn/ros-o-builder/jammy-one/repository/local.yaml debian"
+          fi
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "techfak"  ]]; then
+              export ROSDEP_PACKAGE_MAPPING="yaml https://ros.packages.techfak.net/ros-one.yaml ubuntu"
           fi
-          echo ${{ matrix.ROSDEP_PACKAGE_MAPPING }} | tee /etc/ros/rosdep/sources.list.d/1-ros-o-builder.list
+          echo $ROSDEP_PACKAGE_MAPPING | sudo tee /etc/ros/rosdep/sources.list.d/1-ros-o-builder.list
           rosdep update
         shell: bash
 
       - name: Setup catkin-tools
         run: |
           set -x
           # setup catkin tools
-          apt install -qq -y python3-pip
+          sudo apt install -qq -y python3-pip
           if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" ]]; then
               pip3 install catkin-tools==0.9.4
-              apt install -qq -y catkin
+              sudo apt install -qq -y catkin
           fi
           if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "techfak" ]]; then
-              apt install -qq -y ros-one-catkin python3-catkin-tools
+              sudo apt install -qq -y ros-one-catkin python3-catkin-tools
           fi
           # setup build tools
-          apt install -qq -y cmake build-essential ros-one-rosbash
+          sudo apt install -qq -y cmake build-essential ros-one-rosbash
         shell: bash
 
       - name: Setup Workspace
@@ -279,10 +280,6 @@ jobs:
           # setup workspace
           mkdir -p ~/ws/src
           cd ~/ws/src
-          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "techfak" ]]; then
-          # TODO: remove these lines and uncomment https://github.com/ubi-agni/ros-builder-action/blob/191fab06004ad5784c28cf2ba2b18f6d163a860d/ros-one.repos#L1089
-              git clone https://github.com/locusrobotics/catkin_virtualenv.git
-          fi
           ln -sf $GITHUB_WORKSPACE .
           rosdep install -qq -r -y --from-path . --ignore-src || echo "OK"
           # check all system packages are able to install, because ROS-O build deb files that needs all packages

.github/workflows/python2.yml

@@ -15,4 +15,4 @@ jobs:
       - name: Check Python2
         run: |
           apt update -q && apt install -y -q python2
-          python2 -m compileall .
+          python2 -m compileall -x 'voicevox/' .

3rdparty/aques_talk/CMakeLists.txt

@@ -5,10 +5,6 @@ find_package(catkin REQUIRED)
 
 catkin_package()
 
-if(DEFINED ENV{GITHUB_ACTIONS})
-  message(WARNING "skip downloading aques_talk within GithubAction")
-  return()
-endif()
 # Considering the use of docker in addition to the usual use,
 # we use dpkg-architecture command instead of ${CMAKE_SYSTEM_PROCESSOR} to get the architecture.
 # https://stackoverflow.com/a/58222507
@@ -30,14 +26,32 @@ message(STATUS "AQTK2_LNX_LIB_DIR : ${AQTK2_LNX_LIB_DIR}")
 
 #
 include(ExternalProject)
+file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/download/src/)
+set(LIBRARY_URL https://www.a-quest.com/archive/package/aqtk2-lnx-eva_230.zip)
+file(DOWNLOAD
+  ${LIBRARY_URL}
+  ${CMAKE_CURRENT_BINARY_DIR}/download/src/aqtk2-lnx-eva_230.zip
+  STATUS DOWNLOAD_STATUS
+  LOG DOWNLOAD_LOG
+  SHOW_PROGRESS
+)
+list(GET DOWNLOAD_STATUS 0 DOWNLOAD_CODE)
+list(GET DOWNLOAD_STATUS 1 DOWNLOAD_MESSAGE)
+if(NOT DOWNLOAD_CODE EQUAL 0)
+  message(WARNING "Download failed with status: ${DOWNLOAD_CODE}")
+  message(WARNING "Error message: ${DOWNLOAD_MESSAGE}")
+  message(WARNING "Log: ${DOWNLOAD_LOG}")
+else()
 externalproject_add(aqtk2-lnx-eva
   PREFIX download
-  URL https://www.a-quest.com/archive/package/aqtk2-lnx-eva_230.zip
+  URL ${LIBRARY_URL}
+  URL_HASH MD5=4b0641066a826d0be7a016a162ab4043
   TIMEOUT 120
   CONFIGURE_COMMAND bash -c "echo configure"
   BUILD_COMMAND bash -c "(cd ${AQTK2_LNX_LIB_DIR} && ln -sf libAquesTalk2Eva.so.2.3 libAquesTalk2.so && ln -sf libAquesTalk2Eva.so.2.3 libAquesTalk2.so.2)"
   INSTALL_COMMAND bash -c "cp -P ${AQTK2_LNX_LIB_DIR}/libAquesTalk2* ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION} && mkdir -p ${CMAKE_CURRENT_SOURCE_DIR}/phont/ && cp phont/* ${CMAKE_CURRENT_SOURCE_DIR}/phont/"
   BUILD_IN_SOURCE 1
+  DOWNLOAD_EXTRACT_TIMESTAMP TRUE
 )
 
 include_directories(${CMAKE_CURRENT_BINARY_DIR}/download/src/aqtk2-lnx-eva/${AQTK2_LNX_LIB_DIR})
@@ -48,16 +62,17 @@ target_link_libraries(SampleTalk AquesTalk2)
 
 # Make compilation depend on our target:
 add_dependencies(SampleTalk aqtk2-lnx-eva)
+endif()
 
 # install
-install(FILES text2wave
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+catkin_install_python(PROGRAMS text2wave
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 install(DIRECTORY launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS)
 
-if(CATKIN_ENABLE_TESTING)
+if(CATKIN_ENABLE_TESTING AND DOWNLOAD_CODE EQUAL 0)
   find_package(catkin REQUIRED COMPONENTS rostest)
   if("${ARCHITECTURE}" MATCHES x86_64* OR "${ARCHITECTURE}" MATCHES i[0-9]86*)
     add_rostest(test/test_aques_talk.test)

3rdparty/voicevox/.gitignore

@@ -0,0 +1,6 @@
+build
+dict
+lib
+node_scripts/voicevox_engine
+requirements.txt
+!.gitignore

3rdparty/voicevox/CMakeLists.txt

@@ -0,0 +1,93 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(voicevox)
+
+find_package(catkin REQUIRED
+  COMPONENTS
+  catkin_virtualenv
+)
+
+catkin_python_setup()
+
+set(INSTALL_DIR ${PROJECT_SOURCE_DIR})
+
+catkin_package()
+
+find_package(Python3 QUIET COMPONENTS Interpreter)
+if(NOT Python3_FOUND)
+  message(WARNING "voicevox requires python3")
+  return()
+endif()
+# generate the virtualenv
+find_package(Python3 QUIET COMPONENTS Interpreter)
+if(Python3_FOUND)
+  message(STATUS "Found Python: ${Python3_EXECUTABLE}")
+  message(STATUS "Python Version: ${Python3_VERSION}")
+endif()
+
+if("$ENV{ROS_DISTRO}" STREQUAL "melodic")
+  set(REQUIREMENTS_TXT_FILE requirements_melodic.txt)
+elseif(Python3_VERSION VERSION_LESS "3.12")
+  set(REQUIREMENTS_TXT_FILE requirements_noetic.txt)
+else()
+  set(REQUIREMENTS_TXT_FILE requirements_python3.12.txt)
+endif()
+catkin_generate_virtualenv(
+  INPUT_REQUIREMENTS ${REQUIREMENTS_TXT_FILE}
+  PYTHON_INTERPRETER python3
+  USE_SYSTEM_PACKAGES FALSE
+  CHECK_VENV FALSE  # Default TRUE
+)
+
+add_custom_command(
+  OUTPUT voicevox_model_installed
+  COMMAND make -f ${PROJECT_SOURCE_DIR}/Makefile.model
+  MD5SUM_DIR=${PROJECT_SOURCE_DIR}/md5sum
+  INSTALL_DIR=${INSTALL_DIR}
+)
+
+
+add_custom_command(
+  OUTPUT voicevox_core_installed
+  COMMAND make -f ${PROJECT_SOURCE_DIR}/Makefile.core
+  MD5SUM_DIR=${PROJECT_SOURCE_DIR}/md5sum
+  INSTALL_DIR=${INSTALL_DIR}
+)
+
+add_custom_command(
+  OUTPUT voicevox_engine_installed
+  COMMAND make -f ${PROJECT_SOURCE_DIR}/Makefile.engine
+  MD5SUM_DIR=${PROJECT_SOURCE_DIR}/md5sum
+  INSTALL_DIR=${INSTALL_DIR}
+)
+
+add_custom_command(
+  OUTPUT open_jtalk_dic_installed
+  COMMAND make -f ${PROJECT_SOURCE_DIR}/Makefile.open_jtalk_dic
+  MD5SUM_DIR=${PROJECT_SOURCE_DIR}/md5sum
+  INSTALL_DIR=${INSTALL_DIR}
+)
+
+add_custom_target(all_installed ALL DEPENDS
+  voicevox_model_installed
+  voicevox_core_installed
+  voicevox_engine_installed
+  open_jtalk_dic_installed)
+
+file(GLOB NODE_SCRIPTS_FILES node_scripts/*.py)
+catkin_install_python(
+  PROGRAMS ${NODE_SCRIPTS_FILES}
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}/node_scripts/
+)
+install(DIRECTORY node_scripts/voicevox_engine
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/catkin_virtualenv_scripts/
+  USE_SOURCE_PERMISSIONS)
+install(DIRECTORY launch dict
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS)
+install(PROGRAMS bin/text2wave
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/bin)
+
+install(DIRECTORY
+  ${INSTALL_DIR}/lib
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS)

3rdparty/voicevox/LICENSE

@@ -0,0 +1,20 @@
+Copyright (c) 2021 Hiroshiba Kazuyuki
+
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of this software and associated documentation files (the
+"Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

3rdparty/voicevox/Makefile

@@ -0,0 +1,11 @@
+all:
+	make -f Makefile.core
+	make -f Makefile.model
+	make -f Makefile.engine
+	make -f Makefile.open_jtalk_dic
+clean:
+	make -f Makefile.core clean
+	make -f Makefile.model clean
+	make -f Makefile.engine clean
+	make -f Makefile.open_jtalk_dic clean
+	rm -rf build

3rdparty/voicevox/Makefile.core

@@ -0,0 +1,36 @@
+# -*- makefile -*-
+
+all: installed.viocevox_core
+
+VERSION = 0.12.4
+MD5SUM_DIR = $(CURDIR)/md5sum
+ifeq ($(shell uname -m),x86_64)
+	DIRNAME = voicevox_core-linux-x64-cpu-$(VERSION)
+	FILENAME = voicevox_core-linux-x64-cpu-$(VERSION).zip
+	SOURCE_DIR = build/voicevox_core-linux-x64-cpu-$(VERSION)
+	MD5SUM_FILE = $(MD5SUM_DIR)/core-linux-x64-cpu.md5sum
+endif
+ifeq ($(shell uname -m),aarch64)
+	DIRNAME = voicevox_core-linux-arm64-cpu-$(VERSION)
+	FILENAME = voicevox_core-linux-arm64-cpu-$(VERSION).zip
+	SOURCE_DIR = build/voicevox_core-linux-arm64-cpu-$(VERSION)
+	MD5SUM_FILE = $(MD5SUM_DIR)/core-linux-arm64-cpu.md5sum
+endif
+
+TARBALL_URL = "https://github.com/VOICEVOX/voicevox_core/releases/download/$(VERSION)/$(FILENAME)"
+TARBALL = build/$(FILENAME)
+UNPACK_CMD = unzip
+SCRIPT_DIR = $( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+include $(shell rospack find mk)/download_unpack_build.mk
+INSTALL_DIR =	'./'
+
+
+installed.viocevox_core: $(SOURCE_DIR)/unpacked
+	mkdir -p $(INSTALL_DIR)/lib
+	cp build/$(DIRNAME)/lib*.so $(INSTALL_DIR)/lib/
+
+clean:
+	rm -rf $(TARBALL)
+	rm -rf $(SOURCE_DIR)
+	rm -rf $(INSTALL_DIR)/lib
+	rm -rf build

3rdparty/voicevox/Makefile.engine

@@ -0,0 +1,24 @@
+# -*- makefile -*-
+
+all: installed.voicevox_engine
+
+VERSION = 0.12.4
+FILENAME = $(VERSION).tar.gz
+TARBALL = build/$(FILENAME)
+TARBALL_URL = "https://github.com/VOICEVOX/voicevox_engine/archive/refs/tags/$(FILENAME)"
+SOURCE_DIR = build/voicevox_engine-$(VERSION)
+UNPACK_CMD = tar xvzf
+MD5SUM_DIR = $(CURDIR)/md5sum
+MD5SUM_FILE = $(MD5SUM_DIR)/voicevox_engine.tar.gz.md5sum
+include $(shell rospack find mk)/download_unpack_build.mk
+INSTALL_DIR =	'./'
+
+
+installed.voicevox_engine: $(SOURCE_DIR)/unpacked
+	cp -r build/voicevox_engine-$(VERSION) $(INSTALL_DIR)/node_scripts/voicevox_engine
+
+clean:
+	rm -rf $(TARBALL)
+	rm -rf $(SOURCE_DIR)
+	rm -rf $(INSTALL_DIR)/node_scripts/voicevox_engine
+	rm -rf build