Merge branch 'master' into voicevox

jsk-ros-pkg · May 13, 2024 · 3b58ae2 · 3b58ae2
2 parents 1fa5313 + 1803609
commit 3b58ae2
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diff --git a/.github/labeler-config.yaml b/.github/labeler-config.yaml
@@ -0,0 +1,83 @@
+# find * -name package.xml | xargs -n1 dirname | xargs -n1 -I {} sh -c 'echo "$(basename {}):\n  - {}/**/*"' {}  > .github/labeler-config.yaml
+github-action:
+  - .github/**/*
+nlopt:
+  - 3rdparty/nlopt/**/*
+julius:
+  - 3rdparty/julius/**/*
+assimp_devel:
+  - 3rdparty/assimp_devel/**/*
+aques_talk:
+  - 3rdparty/aques_talk/**/*
+downward:
+  - 3rdparty/downward/**/*
+ff:
+  - 3rdparty/ff/**/*
+zdepth:
+  - 3rdparty/zdepth/**/*
+libsiftfast:
+  - 3rdparty/libsiftfast/**/*
+libcmt:
+  - 3rdparty/libcmt/**/*
+voice_text:
+  - 3rdparty/voice_text/**/*
+mini_maxwell:
+  - 3rdparty/mini_maxwell/**/*
+google_cloud_texttospeech:
+  - 3rdparty/google_cloud_texttospeech/**/*
+lpg_planner:
+  - 3rdparty/lpg_planner/**/*
+slic:
+  - 3rdparty/slic/**/*
+ffha:
+  - 3rdparty/ffha/**/*
+bayesian_belief_networks:
+  - bayesian_belief_networks/**/*
+chaplus_ros:
+  - chaplus_ros/**/*
+dialogflow_task_executive:
+  - dialogflow_task_executive/**/*
+gdrive_ros:
+  - gdrive_ros/**/*
+google_chat_ros:
+  - google_chat_ros/**/*
+influxdb_store:
+  - influxdb_store/**/*
+jsk_3rdparty:
+  - jsk_3rdparty/**/*
+openni_tracker_jsk_patch:
+  - jsk_ros_patch/openni_tracker_jsk_patch/**/*
+depth_image_proc_jsk_patch:
+  - jsk_ros_patch/depth_image_proc_jsk_patch/**/*
+laser_filters_jsk_patch:
+  - jsk_ros_patch/laser_filters_jsk_patch/**/*
+collada_urdf_jsk_patch:
+  - jsk_ros_patch/collada_urdf_jsk_patch/**/*
+julius_ros:
+  - julius_ros/**/*
+nfc_ros:
+  - nfc_ros/**/*
+opt_camera:
+  - opt_camera/**/*
+pgm_learner:
+  - pgm_learner/**/*
+respeaker_ros:
+  - respeaker_ros/**/*
+ros_google_cloud_language:
+  - ros_google_cloud_language/**/*
+ros_speech_recognition:
+  - ros_speech_recognition/**/*
+rospatlite:
+  - rospatlite/**/*
+rosping:
+  - rosping/**/*
+rostwitter:
+  - rostwitter/**/*
+sesame_ros:
+  - sesame_ros/**/*
+switchbot_ros:
+  - switchbot_ros/**/*
+webrtcvad_ros:
+  - webrtcvad_ros/**/*
+zdepth_image_transport:
+  - zdepth_image_transport/**/*
diff --git a/.github/workflows/catkin_lint.yml b/.github/workflows/catkin_lint.yml
@@ -0,0 +1,30 @@
+# generated by `./generate_action_config.py noetic`
+# jsk_travis
+on: [push, pull_request]
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    name: check_catkin_lint
+
+    container: ubuntu:20.04
+
+    steps:
+      - name: Install catkin_lint
+        run: apt update -q && apt install -y -q catkin-lint
+      - name: Chcekout
+        uses: actions/checkout@v3
+      - name: Check catkin_lint
+        run: |
+          catkin_lint --color always -W2 \
+          --warning external_include_path \
+          --warning duplicate_cmd \
+          --warning missing_catkin_depend \
+          --warning unconfigured_system_depend \
+          --warning unconfigured_build_depend \
+          --warning order_violation \
+          --warning catkin_order_violation \
+          --warning external_link_directory \
+          --warning unused_catkin_include_dirs \
+          --warning missing_directory \
+          $GITHUB_WORKSPACE
diff --git a/.github/workflows/config.yml b/.github/workflows/config.yml
@@ -20,12 +20,14 @@ jobs:
             ROS_PARALLEL_TEST_JOBS: "-j8"
             CATKIN_PARALLEL_JOBS: "-i"
             NOT_TEST_INSTALL : true
-            BEFORE_SCRIPT : "for name in dialogflow_task_executive ros_speech_recognition sesame_ros ffha libsiftfast nlopt julius julius_ros downward assimp_devel; do echo \\$name; find $GITHUB_WORKSPACE -iname \\$name -exec touch {}/CATKIN_IGNORE \\; ; ls -al \\$(find -iname \\$name)/; done" # Skip large packagses /  Skip packages that could not build on indigo dialogflow_task_executive/ros_speech_recognition/sesame_ros
+            BEFORE_SCRIPT : "sudo pip install packaging==17.1; for name in ffha libsiftfast nlopt julius julius_ros downward assimp_devel google_chat_ros; do echo \\$name; find $GITHUB_WORKSPACE -iname \\$name -exec touch {}/CATKIN_IGNORE \\; ; ls -al \\$(find -iname \\$name)/; done" # Skip large packagses
+            USE_DEB: false
           - ROS_DISTRO: kinetic
             CONTAINER: ubuntu:16.04
             ROS_PARALLEL_TEST_JOBS: "-j8"
             CATKIN_PARALLEL_JOBS: "-i"
             EXTRA_DEB : "python-lxml"
+            BEFORE_SCRIPT : "sudo add-apt-repository -y ppa:jblgf0/python; sudo apt-get update; sudo apt-get install -y python3.6 python3.6-venv libpython3.6-dev; sudo ln -sf python3.6 /usr/bin/python3; ls -al  /usr/bin/python3; python3 --version; python3 -v -m venv /tmp/v"
           - ROS_DISTRO: melodic
             CONTAINER: ubuntu:18.04
             ROS_PARALLEL_TEST_JOBS: "-j8"
@@ -34,11 +36,6 @@ jobs:
             CONTAINER: ubuntu:20.04
             ROS_PARALLEL_TEST_JOBS: "-j8"
             CATKIN_PARALLEL_JOBS: "-i"
-          - ROS_DISTRO: noetic
-            CONTAINER: ubuntu:20.04
-            ROS_PARALLEL_TEST_JOBS: "-j8"
-            CATKIN_PARALLEL_JOBS: "-i"
-            USE_DEB : false
 
 
     container: ${{ matrix.CONTAINER }}
@@ -64,11 +61,12 @@ jobs:
              git config --global --add safe.directory $GITHUB_WORKSPACE
           fi
 
-      - name: Chcekout
-        uses: actions/checkout@v2
+      - name: Checkout
+        uses: actions/checkout@v3.0.2
 
       - name: Start X server
         run: |
+          if [[ "${{ matrix.CONTAINER }}" =~ "jskrobotics/ros-ubuntu:14.04" ]]; then exit 0; fi
           echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections || echo "failing on ros-ubuntu is OK" # set non interactive tzdata https://stackoverflow.com/questions/8671308/non-interactive-method-for-dpkg-reconfigure-tzdata
           sudo apt-get -y -qq install mesa-utils x11-xserver-utils xserver-xorg-video-dummy wget
           export DISPLAY=:0
@@ -77,11 +75,13 @@ jobs:
           sleep 3 # wait x server up
           export QT_X11_NO_MITSHM=1 # http://wiki.ros.org/docker/Tutorials/GUI
           xhost +local:root
+        shell: bash
 
       - name: Run jsk_travis
         uses: jsk-ros-pkg/jsk_travis@master
         with:
-          ROS_PARALLEL_JOBS : ${{ matrix.ROS_PARALLEL_JOBS }}
+          # darty hack, jsk_travis runs catkin build --make-args $ROS_PARALLEL_JOBS --
+          ROS_PARALLEL_JOBS : ${{ matrix.ROS_PARALLEL_JOBS }} LANG=C.UTF-8 LC_ALL=C.UTF-8
           CATKIN_PARALLEL_JOBS : ${{ matrix.CATKIN_PARALLEL_JOBS }}
           ROS_PARALLEL_TEST_JOBS : ${{ matrix.ROS_PARALLEL_TEST_JOBS }}
           CATKIN_PARALLEL_TEST_JOBS : ${{ matrix.CATKIN_PARALLEL_TEST_JOBS }}
@@ -92,6 +92,7 @@ jobs:
           BEFORE_SCRIPT : ${{ matrix.BEFORE_SCRIPT }}
           EXTRA_DEB : ${{ matrix.EXTRA_DEB }}
 
+
   kinetic_i386:
     runs-on: ubuntu-latest
     name: kinetic_i386
@@ -100,7 +101,7 @@ jobs:
     steps:
       - name: Install latest git ( use sudo for ros-ubuntu )
         run: apt-get update && apt-get install -y software-properties-common && apt-get update && add-apt-repository -y ppa:git-core/ppa && apt-get update && apt-get install -y git
-      - name: Chcekout
+      - name: Checkout
         run: |
           git config --global --add safe.directory $GITHUB_WORKSPACE
           git clone --depth=1 $GITHUB_SERVER_URL/$GITHUB_REPOSITORY $GITHUB_WORKSPACE
@@ -112,47 +113,73 @@ jobs:
         with:
           EXTRA_DEB : "python-lxml"
           ROS_DISTRO : kinetic
+          ROS_PARALLEL_JOBS : "LANG=C.UTF-8 LC_ALL=C.UTF-8"
           ROS_PARALLEL_TEST_JOBS : "-j8"
           CATKIN_PARALLEL_JOBS: "-i"
           ROSDEP_ADDITIONAL_OPTIONS : "-n -q -r --ignore-src --skip-keys=python-google-cloud-texttospeech-pip --skip-keys=python-dialogflow-pip"  # Skip installation of grpcio by pip because it causes error
           # https://github.com/jsk-ros-pkg/jsk_3rdparty/pull/237 : (Note that pip==21.0.1 is incompatible with python 2.x)
-          BEFORE_SCRIPT : "sudo pip install virtualenv==15.1.0"
+          BEFORE_SCRIPT : "sudo pip install virtualenv==15.1.0; sudo add-apt-repository -y ppa:jblgf0/python; sudo apt-get update; sudo apt-get install -y python3.6 python3.6-venv libpython3.6-dev; sudo ln -sf python3.6 /usr/bin/python3"
+
 
+  ## need to setup runners from https://github.com/jsk-ros-pkg/jsk_3rdparty/settings/actions/runners
   arm:
-    runs-on: ubuntu-latest
+    runs-on: ['self-hosted', 'Linux', 'ARM64']
     strategy:
       fail-fast: false
       matrix:
         include:
           - ROS_DISTRO: kinetic
-            CONTAINER: ubuntu16.04
+            CONTAINER: arm64v8/ros:kinetic-perception-xenial
             EXTRA_DEB : "python-lxml"
-          # - ROS_DISTRO: melodic
-          #   CONTAINER: ubuntu18.04
+          - ROS_DISTRO: melodic
+            CONTAINER: arm64v8/ros:melodic-perception-bionic
+          - ROS_DISTRO: noetic
+            CONTAINER: arm64v8/ros:noetic-perception-focal
     steps:
       - uses: actions/[email protected]
         with:
           submodules: 'true'
+          path: ${{ matrix.ROS_DISTRO }}-${{ github.run_number }}-${{ github.run_attempt }}-${{ github.run_id }}
       - name: Skip packagse
         run: |
-          for name in ffha libsiftfast nlopt julius julius_ros downward assimp_devel; do echo $name; find -iname $name -exec touch {}/CATKIN_IGNORE \; ; ls -al $(find -iname $name)/; done
-      - uses: uraimo/run-on-arch-action@v2
-        name: Run commands
-        with:
-          arch: aarch64
-          distro: ${{ matrix.CONTAINER }}
-          install: |
-            apt-get update -q -y
-            apt-get install -q -y git sudo wget curl
-          run: |
-            export EXTRA_DEB=${{ matrix.EXTRA_DEB }}
-            export ROS_DISTRO=${{ matrix.ROS_DISTRO }}
-            export ROS_PARALLEL_TEST_JOBS="-j2"
-            export CATKIN_PARALLEL_JOBS="-i"
-            export ROSDEP_ADDITIONAL_OPTIONS="-n -q -r --ignore-src --skip-keys=python-google-cloud-texttospeech-pip --skip-keys=python-dialogflow-pip"  # Skip installation of grpcio by pip because it causes error
-            export BEFORE_SCRIPT="sudo pip install virtualenv==15.1.0"
-            export USE_TRAVIS=true
-            export USE_DOCKER=false
-            export NOT_TEST_INSTALL=true
-            set +o nounset
-            source .travis/travis.sh
+          cd ${{ matrix.ROS_DISTRO }}-${{ github.run_number }}-${{ github.run_attempt }}-${{ github.run_id }} && for name in ffha libsiftfast nlopt downward assimp_devel google_chat_ros; do echo $name; find -iname $name -exec touch {}/CATKIN_IGNORE \; ; ls -al $(find -iname $name)/; done
+      - name: Run commands
+        run: |
+          cd ${{ matrix.ROS_DISTRO }}-${{ github.run_number }}-${{ github.run_attempt }}-${{ github.run_id }}
+          export EXTRA_DEB=${{ matrix.EXTRA_DEB }}
+          export ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+          export ROS_PARALLEL_TEST_JOBS="-j2"
+          export CATKIN_PARALLEL_JOBS="-i -j2"
+          export ROSDEP_ADDITIONAL_OPTIONS="-n -q -r --ignore-src --skip-keys=python-google-cloud-texttospeech-pip --skip-keys=python-dialogflow-pip"  # Skip installation of grpcio by pip because it causes error
+          export BEFORE_SCRIPT="sudo pip install virtualenv==15.1.0"
+          export USE_TRAVIS=true
+          export USE_DOCKER=false
+          export DOCKER_IMAGE=${{ matrix.CONTAINER }}
+          export NOT_TEST_INSTALL=true
+          export ROS_PARALLEL_JOBS="-j8 --make-args LANG=C.UTF-8 LC_ALL=C.UTF-8"
+          set +o nounset
+
+          export CI_SOURCE_PATH=$(pwd)
+          export REPOSITORY_NAME=${PWD##*/}
+
+          docker pull $DOCKER_IMAGE || true
+          docker run --rm -v $HOME:$HOME -v $HOME/.ccache:$HOME/.ccache/ -v $HOME/.cache/pip:$HOME/.cache/pip/ \
+                $DOCKER_XSERVER_OPTIONS \
+                -e TRAVIS_BRANCH -e TRAVIS_COMMIT -e TRAVIS_JOB_ID -e TRAVIS_OS_NAME -e TRAVIS_PULL_REQUEST -e TRAVIS_REPO_SLUG \
+                -e GITHUB_RUN_ID \
+                -e CI_SOURCE_PATH -e HOME -e REPOSITORY_NAME \
+                -e BUILD_PKGS -e TARGET_PKGS -e TEST_PKGS \
+                -e BEFORE_SCRIPT -e BUILDER -e EXTRA_DEB -e USE_DEB \
+                -e ROS_DISTRO -e ROS_LOG_DIR -e ROS_REPOSITORY_PATH -e ROSWS \
+                -e CATKIN_TOOLS_BUILD_OPTIONS -e CATKIN_TOOLS_CONFIG_OPTIONS \
+                -e CATKIN_PARALLEL_JOBS -e CATKIN_PARALLEL_TEST_JOBS \
+                -e ROS_PARALLEL_JOBS -e ROS_PARALLEL_TEST_JOBS -e ROS_PYTHON_VERSION \
+                -e ROSDEP_ADDITIONAL_OPTIONS -e ROSDEP_UPDATE_QUIET \
+                -e SUDO_PIP -e USE_PYTHON_VIRTUALENV \
+                -e NOT_TEST_INSTALL -e DEBUG_TRAVIS_PYTHON \
+                -t $DOCKER_IMAGE bash -c 'sudo apt-get update -y && sudo apt-get install -q -y git sudo wget curl && cd $CI_SOURCE_PATH/ && .travis/travis.sh'
+
+      - name: Cleanup workspace
+        if: always()
+        run: |
+          rm -fr ${{ matrix.ROS_DISTRO }}-${{ github.run_number }}-${{ github.run_attempt }}-${{ github.run_id }} || echo "OK"
diff --git a/.github/workflows/labeler.yaml b/.github/workflows/labeler.yaml
@@ -0,0 +1,18 @@
+name: "Pull Request Labeler"
+on:
+- pull_request_target
+
+permissions:
+  contents: read
+
+jobs:
+  triage:
+    permissions:
+      contents: read  # for actions/labeler to determine modified files
+      pull-requests: write  # for actions/labeler to add labels to PRs
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/labeler@v3
+      with:
+        repo-token: "${{ secrets.GITHUB_TOKEN }}"
+        configuration-path: ".github/labeler-config.yaml"
diff --git a/.travis.rosinstall.indigo b/.travis.rosinstall.indigo
@@ -1,6 +1,13 @@
-# last kinetic release was 0.2.13,
-# rostwitter requries sound_play >= 0.3.7 https://github.com/ros-drivers/audio_common/pull/149
+# # last kinetic release was 0.2.13,
+# # rostwitter requries sound_play >= 0.3.7 https://github.com/ros-drivers/audio_common/pull/149
+# - git:
+#     local-name: audio_common/sound_play
+#     uri: https://github.com/k-okada/audio_common
+#     version: indigo_setup
+# we need to install catkin_virtualenv 0.2.2
+# https://github.com/locusrobotics/catkin_virtualenv/pull/32
+# we need to avoid pip upgrade
 - git:
-    local-name: audio_common/sound_play
-    uri: https://github.com/k-okada/audio_common
-    version: indigo_setup
+    local-name: locusrobotics/catkin_virtualenv
+    uri: https://github.com/locusrobotics/catkin_virtualenv
+    version: 0.2.2
diff --git a/3rdparty/aques_talk/CHANGELOG.rst b/3rdparty/aques_talk/CHANGELOG.rst
@@ -2,6 +2,25 @@
 Changelog for package aques_talk
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.28 (2023-07-24)
+-------------------
+
+2.1.27 (2023-06-24)
+-------------------
+* fix package.xml/CMakeLists.txt to supress catkin_lint errors (`#479 <https://github.com/jsk-ros-pkg/jsk_3rdparty/issues/479>`_)
+* Contributors: Kei Okada
+
+2.1.26 (2023-06-14)
+-------------------
+* add LICENSE files (`#476 <https://github.com/jsk-ros-pkg/jsk_3rdparty/issues/476>`_)
+* Contributors: Kei Okada
+
+2.1.25 (2023-06-08)
+-------------------
+* [aques_talk] build as x86 when dpkg cpu check fails (`#387 <https://github.com/jsk-ros-pkg/jsk_3rdparty/issues/387>`_)
+* GithubAction: add test for  aarch64(melodic) / indigo (arm64) (`#365 <https://github.com/jsk-ros-pkg/jsk_3rdparty/issues/365>`_)
+* Contributors: Aoi Nakane, Kei Okada, Naoto Tsukamoto, Shingo Kitagawa, Yoshiki Obinata
+
 2.1.24 (2021-07-26)
 -------------------
 

diff --git a/3rdparty/aques_talk/CMakeLists.txt b/3rdparty/aques_talk/CMakeLists.txt
@@ -11,13 +11,16 @@ catkin_package()
 # http://manpages.ubuntu.com/manpages/bionic/man1/dpkg-architecture.1.html
 execute_process(COMMAND dpkg-architecture -qDEB_TARGET_GNU_CPU OUTPUT_VARIABLE ARCHITECTURE)
 message(STATUS "DEB_TARGET_GNU_CPU : ${ARCHITECTURE}")
-if("${ARCHITECTURE}" MATCHES x86_64* )
-set(AQTK2_LNX_LIB_DIR "lib64")
+if("${ARCHITECTURE}" MATCHES x86_64* OR "${ARCHITECTURE}" STREQUAL "")
+  if("${ARCHITECTURE}" STREQUAL "")
+    message(WARNING "dpkg version is low, continue building as x86_64.")
+  endif()
+  set(AQTK2_LNX_LIB_DIR "lib64")
 elseif("${ARCHITECTURE}" MATCHES i[0-9]86* )
-set(AQTK2_LNX_LIB_DIR "lib")
+  set(AQTK2_LNX_LIB_DIR "lib")
 else()
-message(WARNING "${ARCHITECTURE} is not supported, do not compile aques_talk")
-return()
+  message(WARNING "${ARCHITECTURE} is not supported, do not compile aques_talk")
+  return()
 endif ()
 message(STATUS "AQTK2_LNX_LIB_DIR : ${AQTK2_LNX_LIB_DIR}")
 
@@ -50,5 +53,9 @@ install(DIRECTORY launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS)
 
-
-
+if(CATKIN_ENABLE_TESTING)
+  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)
+  endif()
+endif()