Add translator package

jsk_3rdparty/package.xml

@@ -28,6 +28,7 @@
   <run_depend>respeaker_ros</run_depend>
   <run_depend>ros_google_cloud_language</run_depend>
   <run_depend>ros_speech_recognition</run_depend>
+  <run_depend>ros_translator</run_depend>
   <run_depend>rospatlite</run_depend>
   <run_depend>rosping</run_depend>
   <run_depend>rostwitter</run_depend>

ros_translator/CMakeLists.txt

@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(ros_translator)
+
+find_package(catkin REQUIRED COMPONENTS dynamic_reconfigure catkin_virtualenv)
+
+if(NOT (("$ENV{ROS_DISTRO}" STREQUAL "noetic") OR
+        ("$ENV{ROS_DISTRO}" STREQUAL "melodic")))
+    message(WARNINIG "ros_translator can only be built for melodic and noetic")
+    return()
+endif()
+
+catkin_python_setup()
+
+catkin_generate_virtualenv(
+    PYTHON_INTERPRETER python3
+    USE_SYSTEM_PACKAGE FALSE
+    CHECK_VENV FALSE
+)
+
+
+generate_dynamic_reconfigure_options(
+    cfg/ROSTranslator.cfg
+)
+
+catkin_package()
+
+catkin_install_python(PROGRAMS
+  scripts/ros_translator_node.py
+  scripts/demo_input_node.py
+  scripts/demo_output_node.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(FILES requirements.txt
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

ros_translator/README.md

@@ -0,0 +1,52 @@
+# ros_translator
+
+A ROS package for language translation.
+This package uses Python package [deep-translator](https://pypi.org/project/deep-translator) as a backend.
+
+## Demo
+
+```bash
+roslaunch ros_translator demo
+```
+
+And then, please input any text to `xterm` prompt. You will get a translated text.
+
+```bash
+Input any text >沙羅双樹の花の色、盛者必衰の理をあらはす
+```
+
+```bash
+[INFO] [WallTime: 1682560820.715069] [node:/demo_output_node] [func:DEMO.callback]: Translated text: The color of the flowers of the sal tree reveals the reason why prosperity must decline
+```
+
+## `ros_translator_node.py` Interface
+
+### Subsriber
+
+* `~input_text` (`std_msgs/String`)
+
+    Input text to be translated.
+
+### Publisher
+
+* `~output_text` (`std_msgs/String`)
+
+    Output text translated.
+
+### Parameters
+
+* `~translator` (`String`, default: `google`)
+
+    Backend translation web service
+
+* `~from_language` (`String`, default: `auto`)
+
+    Input language
+
+* `~to_language` (`String`, default: `en`)
+
+    Target language
+
+* `~api_key` (`String`, default: ``)
+
+    API key for some backend web services

ros_translator/cfg/ROSTranslator.cfg

@@ -0,0 +1,13 @@
+#!/usr/bin/env python
+PACKAGE = "ros_translator"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add('translator', str_t, 0, 'Backend Translator Service', 'google')
+gen.add('from_language', str_t, 0, 'Input language', 'auto')
+gen.add('to_language', str_t, 0, 'Output Language', 'en')
+gen.add('api_key', str_t, 0, 'api_key for translator', '')
+
+exit(gen.generate(PACKAGE, 'ros_translator', 'ROSTranslator'))

ros_translator/launch/demo.launch

@@ -0,0 +1,15 @@
+<launch>
+
+    <node pkg="ros_translator" type="ros_translator_node.py" name="ros_translator" output="screen">
+    </node>
+
+    <node pkg="ros_translator" type="demo_output_node.py" name="demo_output_node" output="screen">
+        <remap from="~text" to="/ros_translator/output_text"/>
+    </node>
+
+    <node pkg="ros_translator" type="demo_input_node.py" name="demo_input_node" output="screen"
+        launch-prefix="xterm -e">
+        <remap from="~text" to="/ros_translator/input_text"/>
+    </node>
+
+</launch>

ros_translator/package.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ros_translator</name>
+  <version>2.1.24</version>
+  <description>The ros_translator package</description>
+
+  <maintainer email="[email protected]">Koki Shinjo</maintainer>
+  <maintainer email="[email protected]">Kei Okada</maintainer>
+  <author email="[email protected]">Koki Shinjo</author>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>rospy</depend>
+
+  <build_depend>dynamic_reconfigure</build_depend>
+  <build_depend>catkin_virtualenv</build_depend>
+
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>xterm</exec_depend>
+
+  <export>
+    <pip_requirements>requirements.txt</pip_requirements>
+  </export>
+</package>

ros_translator/python/ros_translator/core.py

@@ -0,0 +1,89 @@
+import rospy
+from std_msgs.msg import String
+from deep_translator import (
+    GoogleTranslator,
+    MicrosoftTranslator,
+    PonsTranslator,
+    LingueeTranslator,
+    MyMemoryTranslator,
+    YandexTranslator,
+    PapagoTranslator,
+    #DeeplTranslator,
+    #QcriTranslator,
+    single_detection,
+    batch_detection)
+from dynamic_reconfigure.server import Server
+from ros_translator.cfg import ROSTranslatorConfig
+
+engines = {
+    'google': GoogleTranslator,
+    'microsoft': MicrosoftTranslator,
+    'pons': PonsTranslator,
+    'linguee': LingueeTranslator,
+    'mymemory': MyMemoryTranslator,
+    'yandex': YandexTranslator,
+    'papago': PapagoTranslator,
+    #'deepl': DeeplTranslator,
+    #'qcri': QcriTranslator,
+}
+
+
+class ROSTranslator(object):
+
+  def __init__(self):
+
+    self.from_language = rospy.get_param('~from_language', 'auto')
+    self.to_language = rospy.get_param('~to_language', 'en')
+    self.translator = rospy.get_param('~translator', 'google')
+    self.api_key = rospy.get_param('~api_key', '')
+    self.engine = None
+    self.update_engine()
+
+    self.param_srv = Server(ROSTranslatorConfig, self.param_callback)
+    self.pub = rospy.Publisher('~output_text', String, queue_size=1)
+    self.sub = rospy.Subscriber('~input_text', String, self.callback)
+
+  def update_engine(self):
+
+    if self.translator in engines:
+      if self.translator == 'yandex':
+        self.engine = engines[self.translator](self.api_key)
+      elif self.translator == 'microsoft':
+        self.engine = engines[self.translator](api_key=self.api_key,
+                                               target=self.to_language)
+      else:
+        self.engine = engines[self.translator](source=self.from_language,
+                                               target=self.to_language)
+    else:
+      rospy.logerr('Unknown translator backend: {}'.format(self.translator))
+      self.engine = None
+
+  def translate(self, text):
+
+    if self.engine is None:
+      rospy.logwarn('Engine not loaded.')
+      return ''
+
+    if self.translator == 'yandex':
+      return self.engine.translate(source=self.from_language,
+                                   target=self.to_language,
+                                   text=text)
+    elif self.translator == 'microsoft':
+      return self.engine.translate(text)
+    else:
+      return self.engine.translate(text)
+
+  def callback(self, msg):
+
+    output_msg = String()
+    output_msg.data = self.translate(msg.data)
+    self.pub.publish(output_msg)
+
+  def param_callback(self, config, level):
+
+    self.from_language = config['from_language']
+    self.to_language = config['to_language']
+    self.translator = config['translator']
+    self.api_key = config['api_key']
+    self.update_engine()
+    return config

ros_translator/requirements.txt

@@ -0,0 +1 @@
+deep_translator==1.5.0

ros_translator/scripts/demo_input_node.py

@@ -0,0 +1,25 @@
+#!/usr/bin/env python
+
+import rospy
+from std_msgs.msg import String
+
+
+class DEMO(object):
+
+  def __init__(self):
+
+    self.pub = rospy.Publisher('~text', String, queue_size=1)
+
+  def prompt(self):
+
+    while not rospy.is_shutdown():
+
+      text = input('Input any text >')
+      msg = String(data=text)
+      self.pub.publish(msg)
+
+
+if __name__ == '__main__':
+  rospy.init_node('demo_input')
+  node = DEMO()
+  node.prompt()

ros_translator/scripts/demo_output_node.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python
+
+import rospy
+from std_msgs.msg import String
+
+
+class DEMO(object):
+
+  def __init__(self):
+
+    self.sub = rospy.Subscriber('~text', String, self.callback)
+
+  def callback(self, msg):
+
+    rospy.loginfo('Translated text: {}'.format(msg.data))
+
+
+if __name__ == '__main__':
+  rospy.init_node('demo_output')
+  node = DEMO()
+  rospy.spin()

ros_translator/scripts/ros_translator_node.py

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+
+import rospy
+from ros_translator.core import ROSTranslator
+
+if __name__ == '__main__':
+
+  rospy.init_node('ros_translator')
+  node = ROSTranslator()
+  rospy.spin()

ros_translator/setup.py

@@ -0,0 +1,7 @@
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(packages=['ros_translator'],
+                             package_dir={'': 'python'})
+
+setup(**d)