Skip to content

Latest commit

 

History

History
64 lines (44 loc) · 1.6 KB

README.md

File metadata and controls

64 lines (44 loc) · 1.6 KB
Raw

eva_behavior

Initial behaviour tree for Eva. Current verion designed to work with Dmitroid robot and current nodes already developed.

Pre-requisites

The Owyl Behavior Trees package is required: https://github.com/eykd/owyl/ To install:

  1. git clone git@github.com:eykd/owyl.git
  2. sudo python setup.py install

Co-requisites

This is meant to be used in conjuction with the robo_blender ROS node.

Running

To run:

rosrun eva_behavior general_behavior.py

ROS Messaging API

#####Messages defined:

  • event:
string event
string param

Specifies event(new_face,exit) with the face_id as parameter.

  • tracking_message
string target
string action
string params

Specifies what to track (topic name that publishes sensor_msgs/RegionOFInterest message), action (track, glance), params (time to track).

Topics subscribed :
  • behavior_switch (std_msgs/String). Values: ("btree_on", "btree_off"). By default the behaviour tree is off and it needs to receive btree_on to start.
  • tracking_event (eva_behavior/event). Event received from the perception nodes, currently only pi_vision.
Topics published
  • cmd_blendermode (std_msgs/String). Blender mode used for tracking: Dummy (do nothing), TrackDev(tracking objects), LookAround (looking for attention).
  • tracking_action (eva_behavior/tracking_message). Sends the command to blender for specific object tracking (track, glance).
  • make_coupled_face_expr (basic_head_api/MakeCoupledFaceExpr). Sends the expression and intensity for the current robot to basic_head_api node.