[jsk_robot_startup] Support embed image in email_topic.py

[tkmtnt7000]

This PR supports sending embed image with email_topic.py. (Discussion in #1463)

---

TODO

• Set image size

---

• sample code

#!/usr/bin/env python
# -*- coding: utf-8 -*-

import rospy
import time
from jsk_robot_startup.msg import Email
from jsk_robot_startup.msg import EmailBody

def main():
    rospy.init_node('embed_image_test')
    pub = rospy.Publisher("email", Email, queue_size=10)

    msg = Email()
    content_1 = EmailBody()
    content_1.type = 'text'
    content_1.message = 'こんにちは．\n'
    content_2 = EmailBody()
    content_2.type = 'img'
    content_2.file_path = '/home/tsukamoto/Pictures/spotkinova_attachment.jpg'
    content_4 = EmailBody()
    content_4.type = 'img'
    content_4.file_path = '/home/tsukamoto/Pictures/boston_template.png'
    content_5 = EmailBody()
    content_5.type = 'text'
    content_5.message = '\n 今日はSpotで遊んだよ\n'
    content_6 = EmailBody()
    content_6.type = 'img'
    content_6.file_path = '/home/tsukamoto/Pictures/fetch-door4.png'
    content_7 = EmailBody()
    content_7.type = 'text'
    content_7.message = '\n Fetchにも手伝ってもらったよ．\n'
    content_8 = EmailBody()
    content_8.type = 'text'
    content_8.message = '\n'

    msg.body = [content_1, content_2, content_8, content_4, content_5, content_6, content_7]
    msg.subject = 'embed_test'
    msg.sender_address = '[email protected]'
    msg.receiver_address = '[email protected]'
    print (msg)

    time.sleep(1)
    rospy.loginfo("Publish")
    pub.publish(msg)

main()

[knorth55]

Superb!
In example code, where do you add the first and second image?

[tkmtnt7000]

In example code, where do you add the first and second image?

Sorry, I mistakenly write an example code. Updated.

[708yamaguchi]

Thank you for this cool feature!

I also checked that html type worked well.

    content_1 = EmailBody()
    content_1.type = 'html'
    content_1.message = '<p><font size="7" color="#00ff00">サイズが7で緑色</font></p>\n'

One thing.
Do we need to use \n like below?
If possible, I do not want to write \n in the message field. (Maybe my original code is bad, sorry)

    content_5.message = '\n 今日はSpotで遊んだよ\n'

[708yamaguchi]

One thing.
Do we need to use \n like below?
If possible, I do not want to write \n in the message field. (Maybe my original code is bad, sorry)

    content_5.message = '\n 今日はSpotで遊んだよ\n'

Sorry, \n is needed when we want to write multiple line message.

[tkmtnt7000]

Thank you for comments.
The size of embedded images can now be specified as a percentage.

content = EmailBody()
content.type = 'img'
content.file_path = '/home/tsukamoto/Pictures/fetch-door4.png'
content.img_size = 50 

Now, we have to write \n manually as a text type when multiple images are to be aligned vertically.
It is possible to automatically break each image into a new line, but I feel that there is a demand to arrange images horizontally...

[k-okada]

nice!!
I am OK with this. just to confirm no one will spend time, just to move this code to another in future...

c.f. jsk-ros-pkg/jsk_common#1607

[knorth55]

the release is a good point of jsk_common, hmm.
currently if jaxon wants to send e-mail, they need to install jsk_robot, which is a bit unfriendly.
I'm for to move this node to jsk_common.

[k-okada]

I understand your thoughts, specially I found jsk_robot_startup/EmailBody line.
But Jaxon robot should depend on jsk_robot_startup and uses life log to store sensor/event data and use them to learn something from experiments….

[tkmtnt7000]

So... should I move email_topic.py to https://github.com/jsk-ros-pkg/jsk_common ???

[knorth55]

But Jaxon robot should depend on jsk_robot_startup and uses life log to store sensor/event data and use them to learn something from experiments….

I agree.
I think both idea is acceptable, so its better to leave it in jsk_robot now.

[tkmtnt7000]

OK.
I'll make PR to jsk_common to leave it in jsk_robot now.

[tkmtnt7000]

Sorry, I understood mistakenly.
I leave this node in jsk_robot and do not move to jsk_common.

[Affonso-Gui]

Arguably it would also be nice to have an option to send an image directly from the client, instead of needing a local path in the robot PC. (I and Kochigami are working on a similar case for Pepper's tablet, thinking of further usage with scratch)

The message could be encoded as base64 or any other ros-compliant data type.
e.g.

[app_manager/Icon]:
string format
uint8[] data

We should evaluate if this is safe or not first, though.

[tkmtnt7000]

When I was writing a node that sends an email with an image depending on the state of smach, I realized that it would be nice to receive the image topic(sensor_msgs/Image) directly.
k-okada#60