Aws face update

[k-okada]

• set always_publish to false, to publish results only when face is detected
• publish ~image topic. If you set always_publish to false, this topic is always expecetd to contain face images, home this is useful for robot memory

This would be equivalent as using small script such as

import rospy
import message_filters

from sensor_msgs.msg import CompressedImage
from jsk_recognition_msgs.msg import ClassificationResult

rospy.init_node('publihs_valid_attributes')

def callback(msg_attr, msg_img):
    print("hoge",len(msg_attr.probabilities))
    if len(msg_attr.probabilities) > 0:
        pub_attr.publish(msg_attr)
        pub_image.publish(msg_img)

pub_attr = rospy.Publisher('/aws_detect_faces/attributes/valid', ClassificationResult,queue_size=1)
pub_image = rospy.Publisher('/aws_detect_faces/image/compressed', CompressedImage, queue_size=1)
sub_attr = message_filters.Subscriber('/aws_detect_faces/attributes', ClassificationResult)
sub_image = message_filters.Subscriber('/camera/rgb/image_raw/compressed', CompressedImage)

#ts = message_filters.ApproximateTimeSynchronizer([sub_attr, sub_image], 10, 0.5)
ts = message_filters.TimeSynchronizer([sub_attr, sub_image], 10)
ts.registerCallback(callback)
rospy.spin()

cc: @mqcmd196 @a-ichikura

if you update your jsk_perception repository, you can remove

  <!-- REDEFINE!!! save only valid date : roslaunch make_memory after lifelog.launch -->
  <node pkg="jsk_spot_startup" type="publish_valid_attributes.py"
        name="publish_valid_attributes" />

from your make_memory.launch

to save face image, add following launch to make_memory.launch

      <node name="rgb_image_logger"
            pkg="nodelet" type="nodelet"
            args="load jsk_robot_lifelog/LightweightLogger /mongodb_record_nodelet_manager"
            respawn="true">
        <remap from="~input" to="rgb/$(arg rgb_topic)$(arg rgb_suffix)" />
        <rosparam subst_value="true">
          enable_monitor: false
          monitor_topic: /aws_detect_faces/image/compressed
          vital_check: true
        </rosparam>
      </node>

[k-okada]

@tkmtnt7000 fix sample_aws_auto_checkin_app.launch with use_usb_cam:=true.