Add Emotion Analyzer

[ayaha-n]

@mqcmd196

Hume AI を用いたemotion_analyzerを作成しました．
使用方法はreadmeに記載の通りで，

• text to emotion
• audio (wav file) to emotion
• audio (record from /audio) to emotion
  ができます．

ただ，audio (record from /audio) to emotionのときが少し挙動が変で，
ReSpeakerを用いて

roslaunch emotion_analyzer emotion_analyzer.launch api_key:=<api_key>
roslaunch emotion_analyzer capture.launch 
rosservice call /analyze_audio "audio_file: ''"

としたときは

result: "{\"prosody\": null, \"burst\": [{\"name\": \"Admiration\", \"score\": 0.04438357800245285},\
  \ {\"name\": \"Adoration\", \"score\": 0.03663531318306923}, {\"name\": \"Aesthetic\
  \ Appreciation\", \"score\": 0.0275471992790699}, {\"name\": \"Amusement\", \"score\"\
  : 0.15527257323265076}, {\"name\": \"Anger\", \"score\": 0.01609768718481064}, {\"\
  name\": \"Anxiety\", \"score\": 0.09838512539863586}, {\"name\": \"Awe\", \"score\"\
  : 0.0516996867954731}, {\"name\": \"Awkwardness\", \"score\": 0.17967936396598816},\
  \ {\"name\": \"Boredom\", \"score\": 0.18468798696994781}, {\"name\": \"Calmness\"\
  , \"score\": 0.11194272339344025}, {\"name\": \"Concentration\", \"score\": 0.039446331560611725},\
  \ {\"name\": \"Contemplation\", \"score\": 0.07749783992767334}, {\"name\": \"Confusion\"\
  , \"score\": 0.07849768549203873}, {\"name\": \"Contempt\", \"score\": 0.10015680640935898},\
  \ {\"name\": \"Contentment\", \"score\": 0.07816632837057114}, {\"name\": \"Craving\"\
  , \"score\": 0.043796356767416}, {\"name\": \"Determination\", \"score\": 0.022754769772291183},\
  \ {\"name\": \"Disappointment\", \"score\": 0.15245404839515686}, {\"name\": \"\
  Disgust\", \"score\": 0.0362621434032917}, {\"name\": \"Distress\", \"score\": 0.16373476386070251},\
  \ {\"name\": \"Doubt\", \"score\": 0.11785085499286652}, {\"name\": \"Ecstasy\"\
  , \"score\": 0.1383388191461563}, {\"name\": \"Embarrassment\", \"score\": 0.10717830061912537},\
  \ {\"name\": \"Empathic Pain\", \"score\": 0.0768926814198494}, {\"name\": \"Entrancement\"\
  , \"score\": 0.040821533650159836}, {\"name\": \"Envy\", \"score\": 0.021487215533852577},\
  \ {\"name\": \"Excitement\", \"score\": 0.07412480562925339}, {\"name\": \"Fear\"\
  , \"score\": 0.06701570749282837}, {\"name\": \"Guilt\", \"score\": 0.03692568093538284},\
  \ {\"name\": \"Horror\", \"score\": 0.039663150906562805}, {\"name\": \"Interest\"\
  , \"score\": 0.09799767285585403}, {\"name\": \"Joy\", \"score\": 0.13371771574020386},\
  \ {\"name\": \"Love\", \"score\": 0.06643084436655045}, {\"name\": \"Nostalgia\"\
  , \"score\": 0.045610249042510986}, {\"name\": \"Pain\", \"score\": 0.1008995845913887},\
  \ {\"name\": \"Pride\", \"score\": 0.034173380583524704}, {\"name\": \"Realization\"\
  , \"score\": 0.07668226957321167}, {\"name\": \"Relief\", \"score\": 0.10585669428110123},\
  \ {\"name\": \"Romance\", \"score\": 0.0844399556517601}, {\"name\": \"Sadness\"\
  , \"score\": 0.08523412048816681}, {\"name\": \"Satisfaction\", \"score\": 0.2191394865512848},\
  \ {\"name\": \"Desire\", \"score\": 0.14677052199840546}, {\"name\": \"Shame\",\
  \ \"score\": 0.07419771701097488}, {\"name\": \"Surprise (negative)\", \"score\"\
  : 0.020901966840028763}, {\"name\": \"Surprise (positive)\", \"score\": 0.038737643510103226},\
  \ {\"name\": \"Sympathy\", \"score\": 0.042055580765008926}, {\"name\": \"Tiredness\"\
  , \"score\": 0.17382484674453735}, {\"name\": \"Triumph\", \"score\": 0.03647517040371895}]}"

と録音→分析ができているようなのですが，PC内蔵マイクを用いようと

roslaunch emotion_analyzer emotion_analyzer.launch api_key:=<api_key>
roslaunch emotion_analyzer capture.launch device:=hw:0,6 channels:=2 sample_rate:=48000
rosservice call /analyze_audio "audio_file: ''"

のようにすると

result: "{\"prosody\": null, \"burst\": null}"

となってしまって，録音の保存先/home/leus/tmp/hoge.wavを見に行っても，再生できない，もしくは，再生できても私が喋った音声とは異なる雑音のようになる，という感じです．

arecord -lすると

**** List of CAPTURE Hardware Devices ****
card 0: sofhdadsp [sof-hda-dsp], device 0: HDA Analog (*) []
  Subdevices: 1/1
  Subdevice #0: subdevice #0
card 0: sofhdadsp [sof-hda-dsp], device 1: HDA Digital (*) []
  Subdevices: 1/1
  Subdevice #0: subdevice #0
card 0: sofhdadsp [sof-hda-dsp], device 6: DMIC (*) []
  Subdevices: 0/1
  Subdevice #0: subdevice #0
card 0: sofhdadsp [sof-hda-dsp], device 7: DMIC16kHz (*) []
  Subdevices: 1/1
  Subdevice #0: subdevice #0
card 1: ArrayUAC10 [ReSpeaker 4 Mic Array (UAC1.0)], device 0: USB Audio [USB Audio]
  Subdevices: 0/1
  Subdevice #0: subdevice #0

のような感じになって，(1,0),(0,6)以外は（(0,6)もたまに）capture.launchすると

... logging to /home/leus/.ros/log/603feb96-1919-11f0-a47f-6f63903075d1/roslaunch-leus-ThinkPad-P16s-Gen-2-18937.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://leus-ThinkPad-P16s-Gen-2:40087/

SUMMARY
========

PARAMETERS
 * /audio_capture/bitrate: 128
 * /audio_capture/channels: 2
 * /audio_capture/depth: 16
 * /audio_capture/device: hw:0,7
 * /audio_capture/dst: appsink
 * /audio_capture/format: wave
 * /audio_capture/sample_format: S16LE
 * /audio_capture/sample_rate: 48000
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    audio_capture (audio_capture/audio_capture)

ROS_MASTER_URI=http://localhost:11311

process[audio_capture-1]: started with pid [18966]
[ERROR] [1744625746.458648274]: gstreamer: Internal data stream error.
[audio_capture-1] process has died [pid 18966, exit code 1, cmd /opt/ros/noetic/lib/audio_capture/audio_capture audio:=audio __name:=audio_capture __log:=/home/leus/.ros/log/603feb96-1919-11f0-a47f-6f63903075d1/audio_capture-1.log].
log file: /home/leus/.ros/log/603feb96-1919-11f0-a47f-6f63903075d1/audio_capture-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

のようにエラーが出ます．

[mqcmd196]

@ayaha-n
なんか差分がやたらと大きい気がします．(eye_displayとかが含まれてしまっています)

最新のmasterの上に感情分析のパッケージを作る形にしてください

[mqcmd196]

close via #527