smartpalV greeting demo for Open campus

@pkg: smartpalV's easy action and speech

0. The most simple service

// You can choose number to perform some specific demonstration
rosrun tms_rs_greeting_demo greeting_demo

1. Run

• Command

// smartpal_PC
rosrun tms_rc_smartpal_control smartpal5_control // for action
rosrun tms_rc_smartpal_tts smartpal_tts // for speech

// PC
// run node and register param\
roslaunch tms_rs_greeting_demo greeting_demo.launch

Call service

rosservice call /opencampus_greeting "id: 0 task: '[demo_name]'"

• srvice

srv_name: opencampus_greeting

.srv_file: tms_msg_rs::rs_task

int32 id // non-use
string task // demo_name
---
int8 result
tms_msg_rs/robot_task data

2. How to add new demo motion

• tms_rs/tms_rs_greeting_demo/open_campus.yaml : register params
• Please check parameter serverParameter Server.

:snail: About "main block"，"sub block"，"value"

1. main block

• motion

demo motion :nset of sub block motion. You can name main block's name systematically.

Naming rules

[demo_name] + M

• speech

[demo_name] + S

timing of speech(array double)

[demo_name] + S + _t

:ninja: main block: motion: speech: timing of speech = 1:1:1:1！

2. sub block

• motion

3. motion value/speech value

• motion・・・motion_value_name: [double joint_angle]

:grinning: allocation array

[0]	[1]	[2]	[3]	[4]	[5]	[6]	[7]	[8]	[9]
yaw	waistH	waistL	Rarm1	Rarm2	Rarm3	Rarm4	Rarm5	Rarm6	Rarm7

[10]	[11]	[12]	[13]	[14]	[15]	[16]	[17]	[18]
Rgripper	Larm1	Larm2	Larm3	Larm4	Larm5	Larm6	Larm7	Lgripper

• speech・・・speech_value_name: 'string text(English only)'

codicil

How to check motion with choreonoid

:person_bowing_deeply: Be careful joint angle's positive and negative!!

(Larm_joint2,3,5,7)

change the line as below.

  //motion_client = n.serviceClient<tms_msg_rc::smartpal_control>("sp5_control");
  motion_client = n.serviceClient<tms_msg_rc::smartpal_control>("sp5_virtual_control");

// run necessary nodes for simulation
roslaunch tms_db_manager tms_db_manager.launch
cd choreonoid && bin/choreonoid
rosrun tms_rc_smartpal_virtual_control smartpal_virtual_control