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# pip3 install git+https://github.com/espnet/espnet
# pip3 install "espnet[all]" <--- deps, not sure if espnet needs to be reinstalled from source after this, just make sure its March1 or later release
# pip3 install pyopenjtalk

import pyaudio
from espnet2.bin.tts_inference import Text2Speech
import numpy as np

import soundfile as sf

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Traceback (most recent call last):
  File "<string>", line 1, in <module>
UnicodeEncodeError: 'ascii' codec can't encode character '\xed' in position 261: ordinal not in range(128)
[4.874s] ERROR:asyncio:Task exception was never retrieved
future: <Task finished coro=<_wait_and_close_fds() done, defined at /usr/lib/python3/dist-packages/colcon_core/subprocess.py:253> exception=RuntimeError('cannot reuse already awaited coroutine',)>
RuntimeError: cannot reuse already awaited coroutine
[4.874s] ERROR:asyncio:Task exception was never retrieved
future: <Task finished coro=<_pipe2callback() done, defined at /usr/lib/python3/dist-packages/colcon_core/subprocess.py:238> exception=RuntimeError('cannot reuse already awaited coroutine',)>
RuntimeError: cannot reuse already awaited coroutine
--- stderr: urdfdom_py

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repositories:
  mara:
    type: git
    url: https://github.com/acutronicrobotics/MARA.git
    version: master
  HRIM:
    type: git
    url: https://github.com/erlerobot/HRIM.git
    version: Coliza
  mara_examples:

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# FAILING TEST ------------------------------------------------ only first env test.
STARTING MARA ENVS TEST

Starting MARA-v0 environment test.

[INFO] [launch]: process[gzserver-2]: started with pid [9076]
[INFO] [launch]: process[spawn_mara_arg.py-3]: started with pid [9077]
[INFO] [launch]: process[mara_contact_publisher-4]: started with pid [9078]
[INFO] [launch]: process[hros_cognition_mara_components-1]: started with pid [9075]
Unknown tag "contact" in /robot[@name='mara']/link[@name='table']

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Gripper slipping

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E: Unable to locate package python3-colcon-common-extensions
E: Unable to locate package python3-vcstool

FIX
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 0xB01FA116
sudo apt-get update
sudo apt-get install python3-vcstool

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MARA COLLISION ORIENT

Error from Target orientation: (0,010171732097223038, 0,08843436401325859, -0,03614114663795839)

Error from Target orientation: (-0,05114559863465368, 0,08590517686372233, 0,09113307062949681)

Error from Target orientation: (-0,0319140246795335, 0,09734979693948566, -0,02134340295811405)

Error from Target orientation: (0,1167760059835005, 0,0030788361730206054, 0,18320521574705775)

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ros2 service call /demo/set_light_properties 'gazebo_msgs/SetLightProperties' '{light_name: "sun", diffuse: {r: 0.8, g: 0.9, b: 0.8, a: 1.0}, attenuation_constant: 0.9, attenuation_linear: 0.01, attenuation_quadratic: 0.001}'
requester: making request: gazebo_msgs.srv.SetLightProperties_Request(light_name='sun', diffuse=std_msgs.msg.ColorRGBA(r=0.8, g=0.9, b=0.8, a=1.0), attenuation_constant=0.9, attenuation_linear=0.01, attenuation_quadratic=0.001)

Error in gzserver:
gzserver: symbol lookup error: /home/nestor/gz_ws_ros2/install/lib/libgazebo_ros_properties.so: undefined symbol: _ZN22rosidl_typesupport_cpp31get_message_type_support_handleIN6gazebo4msgs5LightEEEPK29rosidl_message_type_support_tv

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[ 91%] Building CXX object test/CMakeFiles/test_gazebo_ros_factory.dir/test_gazebo_ros_factory.cpp.o
In file included from /opt/ros/crystal/src/gtest_vendor/include/gtest/internal/gtest-internal.h:39:0,
                 from /opt/ros/crystal/src/gtest_vendor/include/gtest/gtest.h:58,
                 from /usr/include/gazebo-9/gazebo/test/ServerFixture.hh:31,
                 from /home/nestor/gz_ws_ros2/src/gazebo_ros_pkgs/gazebo_ros/test/test_gazebo_ros_factory.cpp:15:
/home/nestor/gz_ws_ros2/src/gazebo_ros_pkgs/gazebo_ros/test/test_gazebo_ros_factory.cpp: In member function ‘virtual void GazeboRosFactoryTest_SpawnDelete_Test::TestBody()’:
/opt/ros/crystal/src/gtest_vendor/include/gtest/internal/gtest-port.h:856:40: error: expected ‘;’ before ‘switch’
 # define GTEST_AMBIGUOUS_ELSE_BLOCKER_ switch (0) case 0: default:  // NOLINT
                                        ^
/opt/ros/crystal/src/gtest_vendor/include/gtest/gtest_pred_impl.h:73:3: note: in expansion of macro ‘GTEST_AMBIGUOUS_ELSE_BLOCKER_’

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nestor@n-pc:~/gz_ws_ros2$ colcon build --merge-install --packages-select gazebo_ros
Starting >>> gazebo_ros
--- stderr: gazebo_ros                             
In file included from /usr/include/sdformat-6.1/sdf/Param.hh:30:0,
                 from /usr/include/sdformat-6.1/sdf/Element.hh:25,
                 from /usr/include/sdformat-6.1/sdf/sdf.hh:4,
                 from /usr/include/gazebo-9/gazebo/common/Plugin.hh:42,
                 from /home/nestor/gz_ws_ros2/src/gazebo_ros_pkgs/gazebo_ros/include/gazebo_ros/gazebo_ros_factory.hpp:18,
                 from /home/nestor/gz_ws_ros2/src/gazebo_ros_pkgs/gazebo_ros/src/gazebo_ros_factory.cpp:15:
/usr/include/c++/7/functional: In instantiation of ‘struct std::_Bind_check_arity<void (gazebo_ros::GazeboRosFactoryPrivate::*)(std::shared_ptr<gazebo_msgs::srv::GetModelList_Response_<std::allocator<void> > >), gazebo_ros::GazeboRosFactoryPrivate*, const std::_Placeholder<1>&, const std::_Placeholder<2>&>’: