add launch/aibo_example.launch to work with ./make_aibo_diary.py --test

database_talker/aibo.rosinstall

@@ -0,0 +1,41 @@
+# database talker for aibo
+- git:
+    local-name: jsk_demos
+    uri: https://github.com/sktometometo/jsk_demos
+    version: PR/hoge-py
+# use k-okada' version of aibo_driver (for message)
+- git:
+    local-name: aibo_driver
+    uri: https://gitlab.jsk.imi.i.u-tokyo.ac.jp/k-okada/aibo_status
+    version: driver
+#
+# use latest google_chat_ros, until noetic is synced
+# armhf users need to use https://github.com/k-okada/jsk_3rdparty/commit/8524aaa4118cb7ab02c65f47c46343bbb4f7147c
+# rosinstall_generator google_chat_ros --rosdistro noetic
+#
+- git:
+    local-name: google_chat_ros
+    uri: https://github.com/tork-a/jsk_3rdparty-release.git
+    version: release/noetic/google_chat_ros/2.1.28-1
+#
+# use latest jsk_recognition_msgs, until noetic is synced
+#
+- git:
+    local-name: jsk_recognition/jsk_recognition_msgs
+    uri: https://github.com/tork-a/jsk_recognition-release.git
+    version: release/noetic/jsk_recognition_msgs/1.2.17-1
+#
+# need releasing
+# https://github.com/davesarmoury/openai_ros/pulls?q=is%3Apr
+#
+- git:
+    local-name: openai_ros
+    uri: https://github.com/davesarmoury/openai_ros
+#
+# add sample launch code for database_talker #1792
+# https://github.com/jsk-ros-pkg/jsk_robot/pull/1792
+#
+- git:
+    local-name: jsk_robot
+    uri: https://github.com/k-okada/jsk_robot.git
+    version: ichikura_sample

database_talker/launch/aibo_example.launch

@@ -0,0 +1,19 @@
+<launch>
+  <arg name="openai_credentials_json" default="$(find aibo_driver)/auth/openai_credentials.json" />
+  <param name="robot/name" value="aibo" />
+
+
+  <param name="mongodb_host" value="musca.jsk.imi.i.u-tokyo.ac.jp" />
+  <param name="mongodb_port" value="27017" />
+  <node name="message_store" pkg="mongodb_store" type="message_store_node.py" >
+    <param name="mongodb_use_localdatacenter" value="false" />
+    <param name="queue_size" value="100" />
+  </node>
+
+  <!-- openai -->
+  <group ns="openai">
+    <node pkg="openai_ros" type="openai_node.py" name="openai" output="screen" >
+      <rosparam command="load" file="$(arg openai_credentials_json)" />
+    </node>
+  </group>
+</launch>

database_talker/scripts/make_aibo_diary.py

@@ -54,7 +54,7 @@
 
 class MessageListener(object):
 
-    def __init__(self):
+    def __init__(self, wait_for_chat_server=True):
         #self.pickle_file = tempfile.NamedTemporaryFile(suffix='.pickle')
         self.pickle_file = "/tmp/activities.pickle"
         self.robot_name = rospy.get_param('robot/name')
@@ -69,7 +69,8 @@ def __init__(self):
 
         rospy.loginfo("wait for '/google_chat_ros/send'")
         self.chat_ros_ac = actionlib.SimpleActionClient('/google_chat_ros/send', SendMessageAction)
-        self.chat_ros_ac.wait_for_server()
+        if wait_for_chat_server:
+            self.chat_ros_ac.wait_for_server()
 
         rospy.loginfo("wait for '/message_store/query_messages'")
         rospy.wait_for_service('/message_store/query_messages')
@@ -242,8 +243,12 @@ def make_image_activities(self, mongo_data_days = None):
         for mongo_data in mongo_data_days:
             rospy.loginfo("Found {} mongo data".format(len(mongo_data)))
             mongo_data_type = list(set([meta['stored_type'] for _, meta in mongo_data]))
+            if (len(mongo_data)) > 0:
+                from_date = datetime.datetime.fromtimestamp(mongo_data[-1][1]['timestamp']//1000000000, JST)
+                to_date = datetime.datetime.fromtimestamp(mongo_data[0][1]['timestamp']//1000000000, JST)
+                rospy.logwarn("   period : {} {}".format(from_date, to_date))
             if len(mongo_data_type) > 1 and 'jsk_recognition_msgs/VQATaskActionResult' in mongo_data_type:
-                rospy.loginfo("Found {} image data".format(len(list(filter(lambda x: 'jsk_recognition_msgs/VQATaskActionResult' in x['stored_type'], [meta for _, meta in mongo_data])))))
+                rospy.loginfo("          : {} image data".format(len(list(filter(lambda x: 'jsk_recognition_msgs/VQATaskActionResult' in x['stored_type'], [meta for _, meta in mongo_data])))))
                 image_activities = {}
                 for msg, meta in mongo_data:
                     if meta['stored_type'] == 'jsk_recognition_msgs/VQATaskActionResult':
@@ -252,7 +257,11 @@ def make_image_activities(self, mongo_data_days = None):
                             answer = msg.result.result.result[0].answer
                             if len(answer.split()) > 3 and answer not in image_activities.keys():
                                 image_activities.update({answer : timestamp})
-                break
+                if (len(image_activities)) > 0:
+                    break
+                else:
+                    rospy.logwarn("   no valid image description is found...")
+
         #
         prompt = "From the list below, please select the most memorable and illuminating event by number.\n\n"
         n = 0
@@ -753,8 +762,9 @@ def cb(self, msg):
     logger = logging.getLogger('rosout')
     logger.setLevel(rospy.impl.rosout._rospy_to_logging_levels[rospy.DEBUG])
 
-    ml = MessageListener()
+    ml = MessageListener(wait_for_chat_server=not args.test)
     if args.test:
-        ml.make_diary()
+        ret = ml.make_diary()
+        rospy.loginfo("image is saved at {}".format(ret['filename']))
         sys.exit(0)
     rospy.spin()