[jsk_fetch_startup] Send kitchen demo mail and twitter with smach_to_mail.py#1568
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| "inspect-kitchen" | ||
| (let () | ||
| (inspect-kitchen :tweet (cdr (assoc 'tweet args))) | ||
| (set-alist 'description "キッチンの様子を見たよ" args) |
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as I comment on jsk-ros-pkg/jsk_roseus#716 (comment), DESCRIPTION is the message from robot to users to tell how they thik and what they do. so
(let ((label-names (inspect-kitchen ....))
(set-alist 'description (format nil "キッチンの様子を見たよ。~Aがあったよ" label-names) args)
(defun notify-recognition (&key (location "kitchen"))
...
label-names)
...
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Thank you very much for advice.
I add notify-text in description and write like this. ba5fc8f
キッチンの様子を見たよ．cupがあったよ
[ IMAGE ]
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Like this, this is tracshcan example, though.
| (let* ((n-trial (cdr (assoc 'n-kitchen-trial args))) | ||
| (success (move-to-sink-front :n-trial n-trial))) | ||
| (setf (cdr (assoc 'success-go-to-kitchen args)) success) | ||
| (set-alist 'description "キッチンに向かったよ" argw) |
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If we can undeerstand DESCRIPTION as transition (arrow) of smach state, can we write DESCRIPTION based on the exit status of each node ? instead of https://github.com/jsk-ros-pkg/jsk_robot/pull/1568/files#diff-db470e8365f9cf73b75d39c7822ddc1513068c80cf3e12dd4a3127cba08d2863R684-R687 ???
(if succcess
(set-alist 'description "キッチンに向かったよ" argw)
(set-alist 'description "キッチンに向かったけど，迷子になっちゃった" argw)
)
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Yes.
I use exit status of each node in 1213188
| "get-light-on-state" | ||
| (let ((light-on (get-light-on))) | ||
| (set-alist 'initial-light-on light-on args) | ||
| (set-alist 'description "電気がついているか確認したよ" args) |
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we do not have to set DESCRIPTOIN/IMAGE for all states, if it is redundant
If we get messages as follows, may be we can remove "電気がついているか確認したよ" descprion and IMAGE
電気がついているか確認したよ
[IMAGE-BRIGHT]
電気がついていたよ
[IMAGE-BRIGHT]
キッチンをみにいくよ
[IMAGE-DARK]
電気がついているか確認したよ
[IMAGE-DARK]
電気をつけたよ
[IMAGE-BRIGHT]
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I remove "電気がついているか確認したよ" and check if room light is on by get-light-on status.1213188
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@tkmtnt7000 sorry could you resolve conflicts or create new PR that only update |
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I rebased current master branch to resolve conflicts. |
| </node> | ||
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| <!-- send email, twitter with smach --> | ||
| <node name="server_name" pkg="jsk_robot_startup" type="smach_to_mail.py" output="screen"> |
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smach topic name is normally /server_name/smach/container_status.
thats why smach_to_mail node's name is server_name in launch
but I think it is confusing and a bit lazy solution...
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From jsk-ros-pkg/jsk_3rdparty#375 (comment)
This PR enables us to send kitchen demo mail with embed image and description by using
smach_to_mail.py.And this can send tweet automatically, too.jsk-ros-pkg/jsk_3rdparty#375
smach-kitchen-20220822.mp4
======
This PR contains knorth55#327, knorth55#326, knorth55#311, knorth55#312.
And also this PR contains and partically depends on obinata-san changes (the place to patrol and take photos) 8ea2c32, dff17cf, 6d5475f, acf1026, so please feel free to revise and send another PR to jsk-ros-pkg. cc:@mqcmd196