[jsk_tools] Add audible warnings node

[iory]

What is this?

This is a general node that subscribes to /diagnostics_agg to speak the error content.
Robots using diagnostics can use this node.

Target Action

• /robotsound (sound_play/SoundRequestAction)

  Target action name.

  If it is a different server name, please remap it like <remap from="/robotsound" to="/sound_play" />.

Subscribing Topics

• /diagnostics_agg (diagnostic_msgs/DiagnosticArray)

  Aggregated diagnostics.

Parameter

• ~speak_rate (Float, default: 1.0)

  Rate of speak loop.

• ~speak_interval (Float, default: 120.0)

  The same error will not be spoken until this number of seconds has passed.

• ~volume (Float, default: 1.0)

  Volume of speaking.

• ~language (String, default: "")

  Language parameters for arg2 in sound_play/SoundRequestAction.

• ~wait_speak (Bool, default: True)

  If True, wait until finish saying one error.

• ~seconds_to_start_speaking (Float, default: 0.0)

  It is the time to wait for the node to speak after it has started.

  This is useful for ignoring errors that occur when the robot starts.

• ~speak_warn (Bool, default: True)

  If True, speak warning level diagnostics.

• ~speak_error (Bool, default: True)

  If True, speak error level diagnostics.

• ~speak_stale (Bool, default: True)

  If True, speak stale level diagnostics.

• ~speak_when_runstopped (Bool, default: True)

  If True, speak an error even if runstop is True.

• ~run_stop_topic (String, default: None)

  Subscribe this topic if this value is specified.

• ~run_stop_condition (String, default: m.data == True)

  Returning bool value condition using the given Python expression.
  The Python expression can access any of the Python builtins plus:
  topic (the topic of the message), m (the message) and t (time of message).

  For example, ~run_stop_topic is robot_state (fetch_driver_msgs/RobotState) and if you want to check whether a runstop is a pressed, you can do the following.

  run_stop_condition: "m.runstopped is True"

• ~blacklist (Yaml, required)

  User must always specify name. You can specify message as an option.

  These values are matched using python regular expressions.

  It is something like below:

  <!-- speak warning -->
  <node name="audible_warning"
        pkg="jsk_tools" type="audible_warning.py"
        output="screen" >
    <remap from="/robotsound" to="/sound_play" />
    <rosparam>
      run_stop_topic: robot_state
      run_stop_condition: "m.runstopped is True"
      seconds_to_start_speaking: 30
      blacklist:
        - "/CPU/CPU Usage/my_machine CPU Usage"
        - "/SoundPlay/sound_play: Node State"
        - "/Other/jsk_joy_node: Joystick Driver Status"
        - "/Other/Combined Gyro"
        - "/Other/l515_head l515_head_realsense2_camera_color: Frequency Status"
        - "/Other/l515_head l515_head_realsense2_camera_confidence: Frequency Status"
        - "/Other/l515_head l515_head_realsense2_camera_depth: Frequency Status"
        - "/Other/l515_head l515_head_realsense2_camera_infra: Frequency Status"
        - "/Other/ukf_se: Filter diagnostic updater"
        - "/Peripherals/PS3 Controller"
        - "/Sensors/IMU/IMU 1 Gyro"
        - "/Sensors/IMU/IMU 2 Gyro"
      run_stop_blacklist:
        - "\\w*_(mcb|breaker)"
        - "/Motor Control Boards/.*"
        - "/Breakers/.*"
    </rosparam>
  </node>
  

• ~run_stop_blacklist (Yaml, optional)

  This is valid when run_stop is True. Blacklist at run_stop.

Usage

Listen warnings from diagnostics.

roslaunch jsk_tools sample_audible_warning.launch

[k-okada]

please add more description, who is using this. how can we integrate with existing warning codes? https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py ? https://github.com/jsk-ros-pkg/jsk_robot/tree/master/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning

[k-okada]

waiting for @iory 's feedback

[708yamaguchi]

who is using this

I think robots using /diagnostics can use this.

how can we integrate with existing warning codes?
https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py ? https://github.com/jsk-ros-pkg/jsk_robot/tree/master/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_warning

Most of the existing code is robot-specific.
On the other hand, the functions of this node are applicable to all robots in common.
For example, rostopic types of robot driver or battery vary from robot to robot, but /diagnostics type is common.

The only code whose function overlaps with the function of this node is jsk_fetch_startup/warning.py.
https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/jsk_fetch_startup/scripts/warning.py

I think the following function is in jsk_fetch_startup/warning.py but not in this node.

• Option to speak DiagnosticStatus.ERROR
• Speck throttle function. For example, robots speak error once in 10 minites.

In addition, It would be nice to have the function to stop the speak function only immediately after program startup.
This is because diagnostics status is not stable when programs startup.

For example

• some topics has not come
• CPU load is high and CPU load warn is output
  ... etc

[708yamaguchi]

I created PR for fetch to use audible_warning.py.
jsk-ros-pkg/jsk_robot#1480

[iory]

@708yamaguchi
Thank you for your review!
I modified the code and added a sample and docs.
Please check it.

[iory]

@k-okada
Tests tend to fail these days because the data collection server tests rely on sleep and have a luck factor.
The data collection server test solves with #1728

  Skipping "catkin_tools_prebuild/package.xml": the root tag is neither 'testsuite' nor 'testsuites'
  Full test results for 'jsk_data/test_results/jsk_data/rosunit-test_data_collection_server.xml'
  -------------------------------------------------
  <?xml version="1.0" encoding="utf-8"?>
  <testsuite errors="0" failures="1" name="unittest.suite.TestSuite" tests="3" time="11.371"><testcase classname="__main__.TestDataCollectionServer" name="test_all" time="4.9011"><failure type="AssertionError">0 not greater than 0
    File "/usr/lib/python3.8/unittest/case.py", line 60, in testPartExecutor
      yield
    File "/usr/lib/python3.8/unittest/case.py", line 676, in run
      self._callTestMethod(testMethod)
    File "/usr/lib/python3.8/unittest/case.py", line 633, in _callTestMethod
      method()
    File "/github/home/ros/ws_jsk_common/src/jsk_common/jsk_data/tests/test_data_collection_server.py", line 93, in test_all
      self.check(save_dir, target='image')
    File "/github/home/ros/ws_jsk_common/src/jsk_common/jsk_data/tests/test_data_collection_server.py", line 35, in check
      self.assertGreater(len(sub_dirs), 0)
    File "/usr/lib/python3.8/unittest/case.py", line 1310, in assertGreater
      self.fail(self._formatMessage(msg, standardMsg))
    File "/usr/lib/python3.8/unittest/case.py", line 753, in fail
      raise self.failureException(msg)
  </failure></testcase><testcase classname="__main__.TestDataCollectionServer" name="test_request" time="3.3947" /><testcase classname="__main__.TestDataCollectionServer" name="test_timer" time="3.0749" /><system-out>&lt;![CDATA[
  
  ]]&gt;</system-out><system-err>&lt;![CDATA[
  /github/home/ros/ws_jsk_common/src/jsk_common/jsk_data/tests/test_data_collection_server.py:45: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details.
    data = yaml.load(f)