post-QA update fixes

ros/angel_system_nodes/angel_system_nodes/activity_classification/activity_classifier_tcn.py

@@ -598,7 +598,6 @@ def rt_loop(self):
                 self._window_criterion_coco_input_mode
             )
 
-        log.info("keep looping starting...")
         # log.info(f"_rt_keep_looping: {self._rt_keep_looping()}")
         while self._rt_keep_looping():
             # log.info(f"self._rt_awake_evt.wait_and_clear(self._rt_active_heartbeat): {self._rt_awake_evt.wait_and_clear(self._rt_active_heartbeat)}")

ros/angel_system_nodes/angel_system_nodes/audio/asr.py

@@ -75,7 +75,7 @@ def __init__(self):
         self._feedback_topic = (
             self.get_parameter(FEEDBACK_TOPIC).get_parameter_value().string_value
         )
-    
+
         self.log.info(
             f"Audio topic: "
             f"({type(self._audio_topic).__name__}) "
@@ -226,7 +226,7 @@ def _publish_text(self, text: str):
         published_msg.utterance_text = text
         colored_utterance = colored(published_msg.utterance_text, "light_blue")
         self.log.info("Publishing message: " + f'"{colored_utterance}"')
-        
+
         if (
             "angela" in text.lower()
             or "angel" in text.lower()
@@ -246,6 +246,7 @@ def publish_feedback_response(self):
         publish_msg.response = "thinking"
         self._feedback_publisher.publish(publish_msg)
 
+
 main = make_default_main(ASR)
 
 

ros/angel_system_nodes/angel_system_nodes/audio/question_answerer.py

@@ -33,6 +33,7 @@
 IMAGE_TOPIC = "image_topic"
 TASK_STATE_TOPIC = "task_state_topic"
 
+
 class QuestionAnswerer(dialogue.AbstractDialogueNode):
     def __init__(self):
         super().__init__()
@@ -152,7 +153,7 @@ def process_image_callback(self, image: Image):
         jpg_container = io.BytesIO()
         img_rgb.save(jpg_container, format="JPEG")
         self.image_msg = base64.b64encode(jpg_container.getvalue()).decode("utf-8")
-        
+
     def question_answer_callback(self, msg):
         self.log.debug(f"Received message:\n\n{msg.utterance_text}")
         if not self._apply_filter(msg):
@@ -169,7 +170,7 @@ def process_question_queue(self):
             optional_fields = self._get_optional_fields_string(
                 self.current_step, self.completed_steps
             )
-            
+
             response = self.get_response(msg, optional_fields)
             self.publish_generated_response(msg, response)
 
@@ -207,7 +208,7 @@ def prompt_gpt(self, question, optional_fields: str, model: str = "gpt-4o"):
                 "model": model,
                 "messages": [
                     {
-                        "role": "user", 
+                        "role": "user",
                         "content": [
                             {
                                 "type": "text",
@@ -227,7 +228,6 @@ def prompt_gpt(self, question, optional_fields: str, model: str = "gpt-4o"):
                 "max_tokens": 128,
             }
 
-
         req = requests.post(
             "https://api.openai.com/v1/chat/completions",
             json=payload,
@@ -308,7 +308,7 @@ def _apply_filter(self, msg):
         if (
             "angela" in msg.utterance_text.lower()
             or "angel" in msg.utterance_text.lower()
-            or "angela," in msg.utterance_text.lower() 
+            or "angela," in msg.utterance_text.lower()
             or "angel," in msg.utterance_text.lower()
         ):
             return msg

ros/angel_system_nodes/angel_system_nodes/task_monitoring/global_step_predictor.py

@@ -51,10 +51,14 @@
 PARAM_GT_OUTPUT_DIR = "gt_output_dir"  # output directory override.
 
 
-
 VALID_STEP_MODES = {"broad", "granular"}
 
 
+# Local value meaning "no input given" for a parameter that we want to be
+# considered "optional".
+NO_VALUE_GIVEN = "__NO_VALUE_GIVEN__"
+
+
 class GlobalStepPredictorNode(Node):
     """
     ROS node that runs the GlobalStepPredictor and publishes TaskUpdate
@@ -72,7 +76,7 @@ def __init__(self):
                 (PARAM_ACTIVITY_CONFIG_FILE,),
                 (PARAM_TASK_STATE_TOPIC,),
                 (PARAM_TASK_ERROR_TOPIC,),
-                (PARAM_SYSTEM_TEXT_TOPIC,),
+                (PARAM_SYSTEM_TEXT_TOPIC, NO_VALUE_GIVEN),
                 (PARAM_SYS_CMD_TOPIC,),
                 (PARAM_QUERY_TASK_GRAPH_TOPIC,),
                 (PARAM_DET_TOPIC,),
@@ -171,9 +175,6 @@ def __init__(self):
         self._task_error_publisher = self.create_publisher(
             AruiUserNotification, self._task_error_topic, 1
         )
-        self._sytem_text_publisher = self.create_publisher(
-            SystemTextResponse, self._system_text_topic, 1
-        )
         self._task_graph_service = self.create_service(
             QueryTaskGraph, self._query_task_graph_topic, self.query_task_graph_callback
         )
@@ -183,6 +184,22 @@ def __init__(self):
         self._sys_cmd_subscription = self.create_subscription(
             SystemCommands, self._sys_cmd_topic, self.sys_cmd_callback, 1
         )
+
+        # Optionally enable the system text publisher if an input topic is
+        # provided. This is currently only used with the Question and Answer
+        # demo to provide a textual representation of the system notice to the
+        # user wearing a headset.
+        self._system_text_publisher = None
+        if self._system_text_topic != NO_VALUE_GIVEN:
+            self._system_text_publisher = self.create_publisher(
+                SystemTextResponse, self._system_text_topic, 1
+            )
+        else:
+            log.warn(
+                "System text response not enabled. Provide a topic name "
+                "to enable it."
+            )
+
         log.info("ROS services initialized.")
 
         self.gt_video_dset: Optional[kwcoco.CocoDataset] = None
@@ -399,13 +416,14 @@ def publish_task_error_message(self, skipped_step: str):
 
         self._task_error_publisher.publish(message)
 
-        # Publish a voice message to user
-        publish_msg = SystemTextResponse()
-        publish_msg.header.frame_id = "Skip detected"
-        publish_msg.header.stamp = self.get_clock().now().to_msg()
-        publish_msg.utterance_text = ""
-        publish_msg.response = "We detected you skipped a step. Please confirm the dialog if you want to go back."
-        self._sytem_text_publisher.publish(publish_msg)
+        # Publish a voice message to user if enabled.
+        if self._system_text_publisher is not None:
+            publish_msg = SystemTextResponse()
+            publish_msg.header.frame_id = "Skip detected"
+            publish_msg.header.stamp = self.get_clock().now().to_msg()
+            publish_msg.utterance_text = ""
+            publish_msg.response = "We detected you skipped a step. Please confirm the dialog if you want to go back."
+            self._system_text_publisher.publish(publish_msg)
 
     def publish_task_state_message(
         self,

tmux/demos/medical/Kitware-M2.yml

@@ -127,7 +127,7 @@ windows:
             -p config_file:=${CONFIG_DIR}/tasks/medical/multi-task-config-medical-m2.yaml
             -p activity_config_file:=${CONFIG_DIR}/activity_labels/medical/m2.yaml
             -p task_state_topic:=TaskUpdates
-            -p task_error_topic:=TaskErrors
+            -p task_error_topic:=ARUISystemNotifications
             -p system_command_topic:=SystemCommands
             -p det_topic:=activity_topic
             -p model_file:=${MODEL_DIR}/task_monitor/m2_test_activity_preds.mscoco.json
@@ -156,7 +156,7 @@ windows:
             --query_task_graph_topic=query_task_graph
             --task_updates_topic=TaskUpdates
             --activity_detections_topic=activity_topic
-            --task_errors_topic=TaskErrors
+            --task_errors_topic=ARUISystemNotifications
 
   - feedback_generator: ros2 run angel_system_nodes feedback_generator --ros-args
       -r __ns:=${ROS_NAMESPACE}
@@ -165,3 +165,5 @@ windows:
       -p task_monitor_topic:=TaskUpdates
       -p arui_update_topic:=AruiUpdates
       -p interp_user_intent_topic:=UserIntentPredicted
+      -p system_text_response_topic:=SystemTextResponse
+      -p system_notification_topic:=ARUISystemNotifications

tmux/demos/medical/Kitware-M3.yml

@@ -127,7 +127,7 @@ windows:
             -p config_file:=${CONFIG_DIR}/tasks/medical/multi-task-config-medical-m3.yaml
             -p activity_config_file:=${CONFIG_DIR}/activity_labels/medical/m3.yaml
             -p task_state_topic:=TaskUpdates
-            -p task_error_topic:=TaskErrors
+            -p task_error_topic:=ARUISystemNotifications
             -p system_command_topic:=SystemCommands
             -p det_topic:=activity_topic
             -p model_file:=${MODEL_DIR}/task_monitor/m3_test_activity_preds.mscoco.json
@@ -156,7 +156,7 @@ windows:
             --query_task_graph_topic=query_task_graph
             --task_updates_topic=TaskUpdates
             --activity_detections_topic=activity_topic
-            --task_errors_topic=TaskErrors
+            --task_errors_topic=ARUISystemNotifications
 
   - feedback_generator: ros2 run angel_system_nodes feedback_generator --ros-args
       -r __ns:=${ROS_NAMESPACE}
@@ -165,3 +165,5 @@ windows:
       -p task_monitor_topic:=TaskUpdates
       -p arui_update_topic:=AruiUpdates
       -p interp_user_intent_topic:=UserIntentPredicted
+      -p system_text_response_topic:=SystemTextResponse
+      -p system_notification_topic:=ARUISystemNotifications

tmux/demos/medical/Kitware-M5.yml

@@ -127,7 +127,7 @@ windows:
             -p config_file:=${CONFIG_DIR}/tasks/medical/multi-task-config-medical-m5.yaml
             -p activity_config_file:=${CONFIG_DIR}/activity_labels/medical/m5.yaml
             -p task_state_topic:=TaskUpdates
-            -p task_error_topic:=TaskErrors
+            -p task_error_topic:=ARUISystemNotifications
             -p system_command_topic:=SystemCommands
             -p det_topic:=activity_topic
             -p model_file:=${MODEL_DIR}/task_monitor/m5_test_activity_preds.mscoco.json
@@ -156,7 +156,7 @@ windows:
             --query_task_graph_topic=query_task_graph
             --task_updates_topic=TaskUpdates
             --activity_detections_topic=activity_topic
-            --task_errors_topic=TaskErrors
+            --task_errors_topic=ARUISystemNotifications
 
   - feedback_generator: ros2 run angel_system_nodes feedback_generator --ros-args
       -r __ns:=${ROS_NAMESPACE}
@@ -165,3 +165,5 @@ windows:
       -p task_monitor_topic:=TaskUpdates
       -p arui_update_topic:=AruiUpdates
       -p interp_user_intent_topic:=UserIntentPredicted
+      -p system_text_response_topic:=SystemTextResponse
+      -p system_notification_topic:=ARUISystemNotifications

tmux/demos/medical/Kitware-R18-qa.yml

@@ -96,7 +96,7 @@ windows:
             -p asr_req_segment_duration:=1
             -p is_sentence_tokenize:=False
             -p debug_mode:=True
-            
+
   - emotion_detection:
       layout: even-vertical
       panes:
@@ -108,7 +108,7 @@ windows:
            -r __ns:=${ROS_NAMESPACE}
            -p in_emotion_topic:=utterances_topic
            -p out_emotion_topic:=gpt_emotion_output_topic
-           
+
   - intent_detection:
       layout: even-vertical
       panes:
@@ -120,7 +120,7 @@ windows:
            -r __ns:=${ROS_NAMESPACE}
            -p in_intent_topic:=base_emotion_output_topic
            -p out_intent_topic:=gpt_intent_output_topic
-           
+
   - question_answering:
       layout: even-vertical
       panes:
@@ -132,7 +132,7 @@ windows:
            -p task_state_topic:=TaskUpdates
            -p image_topic:=PVFramesBGR
            -p few_shot_prompt_file:=${CONFIG_DIR}/llm_prompts/r18_steps_prompt
-           
+
   - pose_estimation: ros2 run angel_system_nodes pose_estimator --ros-args
       -r __ns:=${ROS_NAMESPACE}
       -p image_topic:=PVFramesBGR
@@ -203,7 +203,7 @@ windows:
             --query_task_graph_topic=query_task_graph
             --task_updates_topic=TaskUpdates
             --activity_detections_topic=activity_topic
-            --task_errors_topic=TaskErrors
+            --task_errors_topic=ARUISystemNotifications
 
   - feedback_generator: ros2 run angel_system_nodes feedback_generator --ros-args
       -r __ns:=${ROS_NAMESPACE}

tmux/demos/medical/Kitware-R18.yml

@@ -129,7 +129,7 @@ windows:
             -p config_file:=${CONFIG_DIR}/tasks/medical/multi-task-config-medical-r18.yaml
             -p activity_config_file:=${CONFIG_DIR}/activity_labels/medical/r18.yaml
             -p task_state_topic:=TaskUpdates
-            -p task_error_topic:=TaskErrors
+            -p task_error_topic:=ARUISystemNotifications
             -p system_command_topic:=SystemCommands
             -p det_topic:=activity_topic
             -p model_file:=${MODEL_DIR}/task_monitor/global_step_predictor_act_avgs_R18.npy
@@ -158,7 +158,7 @@ windows:
             --query_task_graph_topic=query_task_graph
             --task_updates_topic=TaskUpdates
             --activity_detections_topic=activity_topic
-            --task_errors_topic=TaskErrors
+            --task_errors_topic=ARUISystemNotifications
 
   - feedback_generator: ros2 run angel_system_nodes feedback_generator --ros-args
       -r __ns:=${ROS_NAMESPACE}
@@ -167,3 +167,5 @@ windows:
       -p task_monitor_topic:=TaskUpdates
       -p arui_update_topic:=AruiUpdates
       -p interp_user_intent_topic:=UserIntentPredicted
+      -p system_text_response_topic:=SystemTextResponse
+      -p system_notification_topic:=ARUISystemNotifications