AmandineMa / guiding_as

Package building dependencies

• executive_smach
• mummer_integration_msgs
• dialogue_as

Execution dependencies

Bring up Pepper

roslaunch perspectives bringup_pepper.launch

Services

• /naoqi_driver/robot_posture/go_to_posture

Perspectives and control modules

uwds start
load_ws
roslaunch perspectives mummer.launch

Services

• /speech_wrapper/speak_to
• /uwds_ros_bridge/has_mesh
• /multimodal_human_monitor/monitor_humans
• /uwds_ros_bridge/start_fact
• /uwds_ros_bridge/end_fact
• /multimodal_human_monitor/find_alternate_id
• /deictic_gestures/look_at
• /deictic_gestures/point_at

Topics

• /base/current_facts
• /head_manager/head_coordination_signals

Ontology modules

roslaunch perspectives ontology.launch

Services

• /semantic_route_description/get_route_region
• /route_description/get_region_route
• /ontoloGenius/individual

Pointing planner

docker run --net=host -e ROS_MASTER_URI=${ROS_MASTER_URI} -v ${current_dir}/move4d:/move4d move4d_ros

Action server

• pointing_planner/PointingPlanner

Navigation

From the docker repository

 docker run --net=host -e ROS_MASTER_URI=${ROS_MASTER_URI} nav:nav 

Action server

• m_move_to

Dialogue

python -m abcdk.AbcdkSoundReceiver.AbcdkSoundReceiver --qi-url mummer-eth0.laas.fr
roslaunch dialogue LAAS_dialogue.launch # Control the dialogue module on Pepper
rosrun dialogue_as dialogue_as # Dialogue action server to get keywords from a speaker

Action server

• dialogue_as

Perception (only window n°2)

/!\ be careful to your .bashrc configuration

rosrun person_manager start_perception.sh -c config_openpose.ini

The state machine

Launch the action server

roslaunch guiding_as guiding_as.launch

To start the state machine by sending a goal = a target + a human

rosrun guiding_as guiding_client.py

To visualize the state machine and its states

rosrun smach_viewer smach_viewer.py

Sources

https://github.com/LAAS-HRI/perspectives

https://github.com/LAAS-HRI/semantic_route_description

https://github.com/LAAS-HRI/mummer_integration/tree/master/navigation

https://github.com/LAAS-HRI/move4d_ros_docker

State machine diagrams

Global diagram

Diagram of "Show" state (sub-state machine)