added files from socrob_at_home and merged its webconsole

rosbuild/scout_speech/speech2.py

+#! /usr/bin/env python
+
+import subprocess
+
+NODE_NAME = 'speech'
+import roslib; roslib.load_manifest(NODE_NAME)
+import rospy
+
+from std_msgs.msg import *
+from scout_msgs.srv import *
+
+def speak(data):
+    subprocess.call("espeak '%s'"%(data), shell=True)
+
+def speak_german(data):
+    subprocess.call("espeak -s 150 -v de-de '%s'"%(data), shell=True)
+
+def speech_handler(msg):
+    speak(msg.data)
+    rospy.loginfo("Saying: "+msg.data)
+
+def speech_german_handler(msg):
+    speak_german(msg.data)
+    rospy.loginfo("Saying: "+msg.data)
+
+def speech_service(req):
+    speak(req.data)
+    rospy.loginfo("Said: "+req.data)
+    return SpeechSrvResponse(True)
+
+def speech_service_german(req):
+    speak_german(req.data)
+    rospy.loginfo("Said: "+req.data)
+    return SpeechSrvResponse(True)
+    
+def main():
+    rospy.init_node(NODE_NAME)
+    rospy.Subscriber("speech", String, speech_handler, queue_size=1)
+    rospy.Subscriber("speech_german", String, speech_german_handler, queue_size=1)
+    rospy.Service("speech", SpeechSrv, speech_service)
+    rospy.Service("speech_german", SpeechSrv, speech_service_german)
+    rospy.loginfo("Speech node (BLOCKING) ready")
+    rospy.spin()
+
+if __name__=="__main__":
+    main()
+
+# EOF

rosbuild/scout_speech/speech2_diff_voice.py

+#! /usr/bin/env python
+
+import subprocess
+
+NODE_NAME = 'speech'
+import roslib; roslib.load_manifest(NODE_NAME)
+import rospy
+
+from std_msgs.msg import *
+from scout_msgs.srv import *
+
+def speak(data):
+    subprocess.call("echo '%s' | festival --tts"%(data), shell=True)
+
+def speech_handler(msg):
+    speak(msg.data)
+    rospy.loginfo("Saying: "+msg.data)
+
+def speech_service(req):
+    speak(req.data)
+    rospy.loginfo("Said: "+req.data)
+    return SpeechSrvResponse(True)
+    
+def main():
+    rospy.init_node(NODE_NAME)
+    rospy.Subscriber("speech", String, speech_handler, queue_size=1)
+    rospy.Service("speech", SpeechSrv, speech_service)
+    rospy.loginfo("Speech node (BLOCKING) ready")
+    rospy.spin()
+
+if __name__=="__main__":
+    main()
+
+# EOF

rosbuild/scout_webconsole/server.py

@@ -41,6 +41,7 @@ ROOT_PATH = osp.dirname(osp.realpath(__file__))
 STATIC_PATH = osp.join(ROOT_PATH, "static")
 DEFAULT_HOME = "home_scout.html"
 DEFAULT_CAMERA = "/stream?topic=/camera/image_raw"
+DEFAULT_CAMPORT = None
 
 CURRENT_MAP = None
 
@@ -93,7 +94,7 @@ class Server(BaseHTTPRequestHandler):
                 stat = os.stat(fn)
                 with open(fn) as fh:
                     self.send_response(200)
-                    self.send_header("Content-type", ctype)
+                    self.send_header("Content-type", ctype[0])
                     self.send_header("Content-Length", str(stat[6]))
                     self.end_headers()
                     if method=='GET':
@@ -160,6 +161,12 @@ class Server(BaseHTTPRequestHandler):
         if method=='GET':
             print >>self.wfile, res
 
+    def handle_cmd(self, method, args):
+        self.header("text/plain")
+        (suc, res) = proxy.send_cmd(args)
+        if method=='GET':
+            print >>self.wfile, res
+
 
 
     # Keep this to the end of class definition
@@ -172,7 +179,9 @@ class Server(BaseHTTPRequestHandler):
             ('set_location', handle_set_location),
             ('set_dct_goal', handle_set_dct_goal),
             ('set_route_goal', handle_set_route_goal),
-            ('teleop', handle_teleop))
+            ('teleop', handle_teleop),
+            ('cmd', handle_cmd),
+            )
 
 
 
@@ -187,14 +196,18 @@ class Proxy:
     temperature = None
     
     def __init__(self):
-        rospy.init_node(PKG_NAME, argv=sys.argv)
-        global CURRENT_MAP
+        rospy.init_node(NODE_NAME, argv=sys.argv)
+        global DEFAULT_MAP
         global DEFAULT_HOME
         global DEFAULT_CAMERA
+        global DEFAULT_CAMPORT
         DEFAULT_HOME = rospy.get_param("~home", DEFAULT_HOME)
         rospy.loginfo("home: %s"%(DEFAULT_HOME))
         DEFAULT_CAMERA = rospy.get_param("~camera", DEFAULT_CAMERA)
         rospy.loginfo("camera: %s"%(DEFAULT_CAMERA))
+        DEFAULT_CAMPORT = rospy.get_param("~camport", DEFAULT_CAMPORT)
+        if DEFAULT_CAMPORT is not None:
+            rospy.loginfo("camport: %s"%(DEFAULT_CAMPORT))
         mapfile = rospy.get_param("navmap", rospy.get_param("map"))
         rospy.loginfo("map: %s"%(mapfile))
         CURRENT_MAP = mapfile
@@ -208,6 +221,7 @@ class Proxy:
         self.guid_srv   = rospy.ServiceProxy("scout/guidance", GuidanceSrv)
         self.teleop_srv = rospy.ServiceProxy("scout/teleop", TeleOpSrv)
         self.speech_srv = rospy.ServiceProxy("speech", SpeechSrv)
+        self.cmd_pub    = rospy.Publisher("webconsole/cmd", String)
         #rospy.Subscriber("/tf", tfMessage, self.tf_handler, queue_size=1)
         rospy.Subscriber("scan", LaserScan, self.lidar_handler, queue_size=1)
         rospy.Subscriber("particlecloud", PoseArray, self.particlecloud_handler, queue_size=1)
@@ -318,6 +332,10 @@ class Proxy:
             except rospy.ServiceException:
                 return (False, "Teleoperation service unavailable")
 
+    def send_cmd(self, args):
+        self.cmd_pub.publish(String(args[0]))
+        return (True, "Done")
+
                 
     # tf_failed = False
     # def tf_handler(self, msg):
@@ -475,7 +493,10 @@ class Proxy:
             xml += '<battery>%s</battery>\n'%(su.escape(self.battery))
         if self.voltage is not None:
             xml += '<voltage>%s</voltage>\n'%(su.escape(self.voltage))
-        xml += '<camera>%s</camera>\n'%(su.escape(DEFAULT_CAMERA))
+        if DEFAULT_CAMPORT is None:
+            xml += '<camera>%s</camera>\n'%(su.escape(DEFAULT_CAMERA))
+        else:
+            xml += '<camera port="%s">%s</camera>\n'%(su.escape(DEFAULT_CAMPORT),su.escape(DEFAULT_CAMERA))
         maps = self.available_maps()
         mapname = self.get_map_name(CURRENT_MAP)
         xml += '<maps current="%s">%s</maps>\n'%(su.escape(mapname), ''.join(['<m id="%s">%s</m>'%(su.escape(m),su.escape(m)) for m in maps]))

rosbuild/scout_webconsole/static/home_go15.html

+<!DOCTYPE HTML PUBLIC "-//IETF//DTD HTML//EN">
+<html>
+
+<head>
+<title>SocRob@home web remote</title>
+<link rel="stylesheet" type="text/css" href="main.css"/>
+<!--script src="/static/jquery.js" type="text/javascript"></script-->
+<!-- script src="/static/console.js" type="text/javascript"></script -->
+
+<STYLE type="text/css">
+  A.button {
+    background: yellow;
+    font-size: 500%;
+    font-style: normal;
+    padding: 10px;
+    margin: 30px;
+  }
+</STYLE>
+
+</head>
+
+<body>
+
+<div class="header">
+  <span class="pagetitle">
+  SocRob@home web console
+  </span>
+</div>
+
+<br/>
+
+<div>
+  <a href="/do/cmd?call" class="button">Call Mordomo</a>
+  <br/><br/>
+</div>
+
+
+<div class="footer">
+   (C) 2015 SocRob@home, Instituto Superior Tecnico
+</div>
+
+</body>
+</html>