Release v1.4.2 #168

argenos · 2019-05-25T11:06:37Z

Changelog

Enhancements

Add Kaldi as the default speech recognition engine
Adds the following maps:
- German Open Arena
- Rheinbach
Add "Find my mates" robocup scenario
- Add the find people action
- Add interview person behaviour
- Add describe person behaviour
General improvements on "Where is this" scenario
- Add service requests to topological_map
move_arm_action
- Replaced the DMP service call with an API call
- All DMP parameters are now configurable

Fixes

General clean up of new robocup scenarios
Move NLU and speech models to mas_models
Update dependency to mas_navigation_tools
Adds dependency to [ros_dmp](https://github.com/b-it-bots/ros_dmp) for mas_move_arm_action`
All navigation goals are now lower case to follow convention

…obotics into go-2019

…into go-2019

This commit adds a first version of the "find my mates scenario of the RoboCup @home league 2019. Additionally an action for interviewing people is added. Also here it is not the final version.

Add the "find_my_mates" scenario and "interview action".

add classify image as an optional param

Apperently a merge conflict was in the code and that is fixed with this commit.

Fix merge conflic comments.

Feature/kaldi listen action

This commit provides a comphrehensive version of the "Find my mate" scenario. A few more information need to be added though. For example location values.

…thers. At the moment the following behaviours are needed that are defined in the "Find my mate" scenario.

Update the "Find my mates" state machine.

…into feature/Kaldi_listen_action

Feature/kaldi listen action

…eemption

argenos · 2019-06-08T15:48:13Z

@alex-mitrevski @PatrickNa what is missing to merge this? Could you make your reviews please?

alex-mitrevski · 2019-06-08T16:36:46Z

There are at least a couple of open comments that should be resolved before we merge (e.g. an HSR-specific topic being hard-coded or incorrect model paths being specified).

mdr_environments/go-2019/map.yaml

PatrickNa · 2019-06-10T19:26:53Z

mdr_planning/mdr_behaviours/mdr_hri_behaviours/common/models/checkpoint

@@ -0,0 +1,2 @@
+model_checkpoint_path: "/home/patrick/rasa/models/current/nlu/intent_classifier_tensorflow_embedding.ckpt"


What is the purpose of this file anyway?

PatrickNa · 2019-06-10T19:28:30Z

mdr_planning/mdr_behaviours/mdr_hri_behaviours/common/models/metadata.json

@@ -0,0 +1,97 @@
+{


Should not all this model data go into mas_models?

Yep, I thought there was a PR for this already.

There is no PR, but there is an issue (#171) which is assigned to you, could you move them there when you get the chance?

PatrickNa · 2019-06-10T19:40:16Z

mdr_speech/mdr_speech_matching/common/config/entities.txt

@@ -0,0 +1,259 @@
+senbei


It depends. Sometimes you want to compare the recognized speech to a specific list of objects... Generating it from the ontology fills the list with words that are not of interest.

argenos · 2019-06-11T08:33:17Z

To clarify the missing to-dos, please correct me if there's something missing :

Removing the models form mdr_hri_behaviours Clean up of the mas_hri_behaviours #171 - assigned to @PatrickNa
Removing HSR-specific topics - PR mdr_find_people cleanup #193
Fixing the build in devel - @alex-mitrevski, I added the missing ros_dmp package to the rosinstall, but the build is still failing since you have missing dependencies.

mdr_find_people cleanup

…otics into devel

Instead of checking matches in two hard coded text files. The algorithm now loops over all files specified in the config directory. Additionally dependencies in the package.xml have been clarified and unnecessary comments removed. TODO: change the type of the msg of this package.

…ehaviors_models Moving mdr_hri_behaviours nlu model to mas_models

argenos · 2019-06-15T10:16:37Z

@alex-mitrevski @PatrickNa checks are passing and final changes were just merged, could you please review/approve so I can merge?

robertocaiwu and others added 30 commits May 1, 2019 15:00

[mdr_listen_action] Add kaldi functionality

7b1adee

[mdr_listen_action] Set kaldi as default SR engine

d8ae417

[mdr_listen_action] Remove duplicate code

ac49555

add classify image as an optional param

7b0b9d8

Add GO 2019 map

80a2d6f

Merge branch 'go-2019' of https://github.com/b-it-bots/mas_domestic_r…

b72aab7

…obotics into go-2019

[mdr_environments] Added a GO 2019 testing map (close to tables)

a2c0bf5

[mdr_environments] Add navigation goals to test map

e637896

[mdr_environments/go-small-2019] Cleaned the map a bit

d5bc499

Merge branch 'go-2019' of github.com:b-it-bots/mas_domestic_robotics …

b44d8c7

…into go-2019

Add the "find_my_mates" scenario and "interview action".

934adc8

This commit adds a first version of the "find my mates scenario of the RoboCup @home league 2019. Additionally an action for interviewing people is added. Also here it is not the final version.

Merge pull request #129 from PatrickNa/mdr_robocup_tasks/find_my_mates

37fa0a9

Add the "find_my_mates" scenario and "interview action".

Merge pull request #128 from minhnh/go-2019

998726b

add classify image as an optional param

[mdr_listen_action] Move ros param to listen client

2357dc3

Fix merge conflic comments.

23bd0e2

Apperently a merge conflict was in the code and that is fixed with this commit.

Merge pull request #131 from PatrickNa/mdr_robocup_tasks/find_my_mates

2aa01a2

Fix merge conflic comments.

[mdr_listen_action] Change default model_directory in launch file

a0640f6

Merge pull request #132 from robertocaiwu/feature/Kaldi_listen_action

adb6181

Feature/kaldi listen action

[mdr_environments] Add find my mates pose

88b8468

Update the "Find my mates" state machine.

dfe8289

This commit provides a comphrehensive version of the "Find my mate" scenario. A few more information need to be added though. For example location values.

Add HRI behaviours that are needed in "find my mate" scenario among o…

670d506

…thers. At the moment the following behaviours are needed that are defined in the "Find my mate" scenario.

Merge pull request #133 from PatrickNa/mdr_robocup_tasks/find_my_mates

d9a8e6e

Update the "Find my mates" state machine.

Added mdr_find_people action

06c3190

[rosplan.launch] Added ontology params

979528a

[mdr_listen_action] Fix namespace issue in launch file

9ee493a

[mdr_listen_action] Send ros params to smach state userdata

e92d99d

Merge branch 'go-2019' of github.com:b-it-bots/mas_domestic_robotics …

f4eab9f

…into feature/Kaldi_listen_action

[default_domain.pddl] Added a person type and known/unknown predicates

9f14adb

[find_people_client] The KB is now updated after finding people

73608a6

Merge pull request #134 from robertocaiwu/feature/Kaldi_listen_action

919d9ec

Feature/kaldi listen action

alex-mitrevski added 4 commits June 8, 2019 17:44

[move_arm_action/server] The result is now set even in the case of pr…

6efc408

…eemption

[move_arm_action/dmp] Replaced the DMP service call with an API call

34509f8

[move_arm_action/dmp] All DMP parameters are now configurable

08e6ac5

[move_arm_action/dmp] The velocity limit is now also parameterised

6e381d4

argenos requested a review from alex-mitrevski June 8, 2019 15:48

PatrickNa reviewed Jun 10, 2019

View reviewed changes

argenos added 4 commits June 11, 2019 09:54

mdr_environments: Rename go-2019 map to german_open_arena

419ecc5

mdr_environments: Add README

cef25da

mdr_move_arm_action: Add ros_dmp to rosinstall

727b2a4

mdr_find_people: Remove HSR-specific topic

9ea3c8e

travis: Add wait time for docker push

f9aa6ca

argenos mentioned this pull request Jun 12, 2019

Clean up of the mas_hri_behaviours #171

Closed

argenos and others added 8 commits June 12, 2019 09:14

Merge branch 'devel' into fix/mdr_find_people-cleanup

48743be

Merge pull request #193 from argenos/fix/mdr_find_people-cleanup

f1aa721

mdr_find_people cleanup

Merge branch 'devel' of https://github.com/b-it-bots/mas_domestic_rob…

098cb76

…otics into devel

mdr_hri_behaviours nlu model is loaded from mas_models

e953cbe

nlu model moved to mas_models

3a6eefa

mdr_speech_matching: Comment out dependency to fuzzywuzzy

01f4aec

Merge branch 'devel' into refactoring/moving_mdr_hri_behaviors_models

6635ee8

argenos requested a review from PatrickNa June 15, 2019 10:15

Merge pull request #194 from ErickKramer/refactoring/moving_mdr_hri_b…

a70e2e8

…ehaviors_models Moving mdr_hri_behaviours nlu model to mas_models

mdr_hri_behaviors: Remove unused imports

386aeaa

alex-mitrevski approved these changes Jun 15, 2019

View reviewed changes

argenos merged commit 0f3702d into kinetic Jun 15, 2019

argenos mentioned this pull request Jul 5, 2019

Change poses to lower case to match conventions b-it-bots/topological_map#5

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Release v1.4.2 #168

Release v1.4.2 #168

argenos commented May 25, 2019 •

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argenos commented Jun 8, 2019

alex-mitrevski commented Jun 8, 2019

PatrickNa Jun 10, 2019

PatrickNa Jun 10, 2019

argenos Jun 11, 2019

argenos Jun 11, 2019

PatrickNa Jun 10, 2019

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argenos commented Jun 15, 2019

		@@ -0,0 +1,2 @@
		model_checkpoint_path: "/home/patrick/rasa/models/current/nlu/intent_classifier_tensorflow_embedding.ckpt"

Release v1.4.2 #168

Release v1.4.2 #168

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argenos commented May 25, 2019 • edited Loading

Changelog

Enhancements

Fixes

argenos commented Jun 8, 2019

alex-mitrevski commented Jun 8, 2019

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