jsk-ros-pkg · ayaha-n · Apr 8, 2025 · Apr 8, 2025 · Apr 9, 2025 · Apr 10, 2025
diff --git a/.github/workflows/config.yml b/.github/workflows/config.yml
@@ -242,7 +242,7 @@ jobs:
           set -x
           # setup catkin tools
           apt install -qq -y python3-pip
-          pip3 install catkin-tools
+          pip3 install catkin-tools==0.9.4
           # setup build tools
           apt install -qq -y cmake build-essential catkin ros-one-rosbash
 

diff --git a/emotion_analyzer/CMakeLists.txt b/emotion_analyzer/CMakeLists.txt
@@ -0,0 +1,207 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(emotion_analyzer)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  message_generation
+  )
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+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
+  AnalyzeText.srv
+  AnalyzeAudio.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 emotion_analyzer
+  CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/emotion_analyzer.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${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/emotion_analyzer_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}
+# )
+
+#############
+## 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
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${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_emotion_analyzer.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)
diff --git a/emotion_analyzer/README.md b/emotion_analyzer/README.md
@@ -0,0 +1,50 @@
+# Emotion Analyzer Service using Hume API (ROS1)
+
+This ROS1 package provides a service to analyze emotions from a given text using the [Hume AI](https://www.hume.ai/) API.
+
+## Requirements
+
+- ROS1 Noetic
+- Python 3.8+
+- `hume` Python package
+- An API key from Hume AI
+
+## Installation
+
+Install the required Python package:
+
+```bash
+pip install hume
+```
+
+## Usage
+
+### 1. Launch Emotion_Analyzer
+```bash
+roslaunch emotion_analyzer emotion_analyzer.launch api_key:=<your_api_key>
+```
+
+### 2. Call the service
+For text,
+```bash
+rosservice call /analyze_text "text: '<text you want to analyze>'"
+```
+For prepared audio (up to 5 seconds),
+```bash
+rosservice call /analyze_audio "audio_file: <audio_file_path>"
+```
+As a sample, you can use `'/home/leus/ros/catkin_ws/src/jsk_3rdparty/emotion_analyzer/data/purugacha_short.wav'` as <audio_file_path>.
+
+For audio from microphone,
+```bash
+roslaunch emotion_analyzer capture.launch
+rosservice call /analyze_audio "audio_file: ''"
+```
+You can check the device information by `arecord -l`.
+Also, when the device is busy, you can try `pasuspender -- roslaunch emotion_analyzer capture.launch`.
+
+
+
+
+
+
diff --git a/emotion_analyzer/__init__.py b/emotion_analyzer/__init__.py
diff --git a/emotion_analyzer/data/purugacha.wav b/emotion_analyzer/data/purugacha.wav
diff --git a/emotion_analyzer/data/purugacha_short.wav b/emotion_analyzer/data/purugacha_short.wav
diff --git a/emotion_analyzer/launch/capture.launch b/emotion_analyzer/launch/capture.launch
@@ -0,0 +1,27 @@
+<launch>
+  <!-- arecord -l will show available input devices, use the car number as
+      the first number and the subdevice number as the second in a string
+      like hw:1,0 -->
+  <arg name="dst" default="appsink"/>
+  <arg name="device" default="plughw:1,0"/>
+  <arg name="format" default="wave"/>
+  <arg name="bitrate" default="128"/>
+  <arg name="channels" default="1"/>
+  <arg name="depth" default="16"/>
+  <arg name="sample_rate" default="16000"/>
+  <arg name="sample_format" default="S16LE"/>
+  <arg name="audio_topic" default="audio"/>
+
+  <node name="audio_capture" pkg="audio_capture" type="audio_capture" output="screen">
+    <remap from="audio" to="$(arg audio_topic)" />
+    <param name="dst" value="$(arg dst)"/>
+    <param name="device" value="$(arg device)"/>
+    <param name="format" value="$(arg format)"/>
+    <param name="bitrate" value="$(arg bitrate)"/>
+    <param name="channels" value="$(arg channels)"/>
+    <param name="depth" value="$(arg depth)"/>
+    <param name="sample_rate" value="$(arg sample_rate)"/>
+    <param name="sample_format" value="$(arg sample_format)"/>
+  </node>
+
+</launch>
diff --git a/emotion_analyzer/launch/emotion_analyzer.launch b/emotion_analyzer/launch/emotion_analyzer.launch
@@ -0,0 +1,11 @@
+<launch>
+  <!-- 引数（APIキー）をコマンドラインから渡せるようにする -->
+  <arg name="api_key" default="" />
+
+  <!-- パラメータとして渡す -->
+  <param name="hume_api_key" value="$(arg api_key)" />
+
+  <!-- ノード起動 -->
+  <node name="analyze_text_service" pkg="emotion_analyzer" type="analyze_text_service.py" output="screen" />
+  <node name="analyze_audio_service" pkg="emotion_analyzer" type="analyze_audio_service.py" output="screen" />   
+</launch>
diff --git a/emotion_analyzer/package.xml b/emotion_analyzer/package.xml
@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>emotion_analyzer</name>
+  <version>0.0.0</version>
+  <description>The emotion_analyzer package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="leus@todo.todo">leus</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/emotion_analyzer</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+    <build_depend>message_generation</build_depend>
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+    <exec_depend>message_runtime</exec_depend>
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>