HackRoboy Spring 2019 project. Roboy avoids contact with people and tells them to leave. If they don't respect personal space, it even calls the police!
- Presentation: https://docs.google.com/presentation/d/1sepASApQEQojkrxxHL5WlevOjM1tnba5YooexWaJY78
- Video: https://youtu.be/h9a69p3XACQ
List of ROS topics that we publish.
| Topic | Data Type | Description |
|---|---|---|
shy_roboy/nearest_distance |
Float32 | Average value of the closest points to camera which are closer than threshold (in meters). |
shy_roboy/state |
Int8 | IDLE: 0 OCCURED: 1 SHOUT: 2 WATCH: 3 |
| Script Name | Publishes | Subscribes | Description |
|---|---|---|---|
getCamImg.py |
/shy_roboy/nearest_distance (Float32) |
/zed/zed_node/depth/depth_registered (Image) |
Reads depth image from ZED camera, applies threshold and calculates the average of the closest pixels. |
filtering.py |
/shy_roboy/state (Int8) |
/shy_roboy/nearest_distance (Float32) |
Changes the state of program using the state machine above. |
callLeds.py |
/roboy/control/matrix/leds/mode/simple (Int32) |
/shy_roboy/state (Int8) |
Listens state and decides to change Roboy's LEDs accordingly. |
callEmotions.py |
- | /shy_roboy/state (Int8) |
Listens state and changes Roboy's emotion to angry via /roboy/cognition/face/emotion service call. |
move_head.py |
/sphere_head_axis0/sphere_head_axis0/target (Float32) |
/shy_roboy/nearest_distance (Float32) |
Listens /shy_roboy/nearest_distance and calculates head movement angle in radians. |
shouter.py |
- | /shy_roboy/state (Int8) |
Executes shouting task via /roboy/cognition/speech/synthesis/talk service call. |