[jsk_fetch_startup] Enable to attach pictures to kitchen demo

[tkmtnt7000]

Upstream pull requests

• Fetch notifies trashbox status in go-to-kitchen demo. #1458
• [jsk_fetch_startup] Update trashcan front position in kitchen demo #1462

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Please merge after #1462.
I cherry-picked knorth55#164.

This PR enables Fetch to attach pictures to kitchen-patrol-demo result email. I add take-photo function to attach pictures in email.
A photo of the inside of the trash can is now sent as an attachment to the email.

[k-okada]

Can we embed images within the mail?

I think notification message contains two parts, one is a message for users, and the other one is a message to developers.
So, my idea is

Hi,
I succeeded in doing "Go to kitchen" job !!
I found kettle in kitchen stove and try in trash cans! See images below
<embed image or animation gif>

I also noticed trashcan is full!!
<embed images>

Best
Fetch 1074
===
Following smach is reported..
Following object .. reported...
Following trash .. reported..
I suceeded to upload data to...
 ...
 ..
 ...

@a-ichikura @kochigami may have an idea.

[708yamaguchi]

In the daily go-to-kitchen demo, we use app_manager_utils/mail_notifier_plugin.py
https://github.com/knorth55/app_manager_utils/blob/54fa4f5c47415da5b941dfdde225b47824703d11/app_notifier/src/app_notifier/mail_notifier_plugin.py

In this python script, we use mailutils command to send email.

We can embed image in the email like this. (Please edit the last email address)

echo "<b>Hello, I go to kitchen.</b> <br> <img src='https://github.com/jsk-ros-pkg/jsk_robot/raw/master/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.png'</img> <br> <b>There are kettles on the kitchen.</b>" | mail -s "$(echo -e "Go to kitchen succeeded\nContent-Type: text/html")" yamaguchi at jsk.imi.i.u-tokyo.ac.jp

Sent email:

[k-okada]

if our robot can send you a message in not a first person view, but the third person view, that would be great!!

[a-ichikura]

I imagined ideal mails from fetch(or other robots).

Black letters mean diary text.
Blue small letters mean Classification of texts.

Image 1 and 2 are like morning repots.
Image 3 and 4 are like evening reports.

All version include Time, Place, People, and Greet.
Morning ones include "suggestion" and "To do in a day".
Evening ones include "Event in that day" and "Robot's feeling."(感想)

I use pictures from Microsoft PowerPoint.

[knorth55]

@a-ichikura SUPER COOL! 😎

[a-ichikura]

In kitchen demo, fetch can suggest beverage or food according to the weather(season).
For example,
If fetch finds a pot in Summer, "How about drinking cool Mugicha?"
In Winter, "How about drinking hot cocoa?"

When we decorate a flower vase in the kitchen,
Fetch may able to recognize from flower even though he can't go outside.
For example,
If fetch finds Sunflower in a flower vase, "How beautiful the iconic SUMMER flower is!"
In Christmas days, "I'm so excited to see Christmas Tree!"

I remember a B4 student tries to decorate with flowers, so I come up with these examples.

[tkmtnt7000]

I rebased 708yamaguchi/use-relative-coords #1458 to resolve conflicts and catch up origin/master.

[tkmtnt7000]

Can we embed images within the mail?

メールに画像を埋め込む方法は今JSKのロボットで使っているメール送信ノードの種類によって違いがあると思います．

1. https://github.com/knorth55/app_manager_utils/tree/master/app_notifier を使う方法
   こちらの場合はメール本文にhtmlを直書きすれば，山口さんが以前送っていたような感じで(インターネットからアクセスできる)画像を埋め込んで送ることができると思います．html直書きせずに指定の位置に画像を埋め込んで送るには，使用しているjsonのキーを増やす必要があるのかなと思っています．

2. https://github.com/jsk-ros-pkg/jsk_robot/blob/4ff519bae7530141af9c6d01d8da42903d11da81/jsk_robot_common/jsk_robot_startup/scripts/email_topic.py を使う方法
   こちらの場合にはメール本文にhtmlを直書きしても画像を埋め込んで送れないので，以下のように新たにrosmsgを作成してリストか何かにして送るような形になります．ただ，新たなrosmsgを作成する場合には機能追加する場合(例：メール中の埋め込み画像を中央揃えしたい) にmsgを作り直す必要がある気がしていて，それをいちいちやり直すのは手間が増えるような気がします．

# EmailMsgs.msg?
string type # text, img, ...
string message # For text type
std_msgs/int16 height # For img type about image size
std_msgs/int16 width # For img type about image size
...

上のような感じで考えてみたのですが，実装方法についてもう少し相談したいです．
また，メール送信に関するプログラムが複数あるので，今後統合していくのか，用途に応じて使い分けるのかも検討が必要そうです．
Cc: @knorth55 @708yamaguchi

[knorth55]

個人的には2に統合しようと思っています
2の形でいい感じのAPIになることを模索するのがいいと思います
最悪msgにHTMLをStringで送る形でも

[708yamaguchi]

今のemail_topic.pyでは，email.mimeライブラリにあるオブジェクトを利用してメールを生成しています．

jsk_robot/jsk_robot_common/jsk_robot_startup/scripts/email_topic.py

Line 4 in c57dc82

from email.mime.text import MIMEText

同じように，email.mime以下にあるクラスをカバーするようなrosmsgを生成するのが良いんじゃないでしょうか．
MIMEAudio, MIMEImage, MIMETextくらいに対応すればいいのかな
https://docs.python.org/ja/3.7/library/email.mime.html

[tkmtnt7000]

北川さん，山口さんありがとうございます．
ひとまずemail_topic.pyからいい感じに送れるように作成してみます．

[tkmtnt7000]

Make PR in #1485 and support embed image.

[tkmtnt7000]

I rebased current jsk-ros-pkg/jsk_robot master branch to resolve conflicts.

[knorth55]

please resolve the conflict.

[tkmtnt7000]

I rebased current origin/master again.