macsoftins / basic_head_api

Sophia robot bringup and test expressions and animations

basic_head_api

Allows to use static expressions with the intensity level. Used to define and control visimes

Dependencies

Requires:

• hansonrobotics/ros_pololu_servo
• dynamixel-msgs
• hansonrobotics/pau2motors

Configuration

Uses following params from param server (within same namespace) for configuration:

• expressions : see expressions.yaml
• motors : see motors.yaml

Running

rosrun basic_head_api head_ctrl.py

Listens to topics:

• make_face_expr for msg MakeFaceExpr.msg (e.g. ["happy", 0.7]) that will trigger the requested PAU face expression to be sent to cmd_face_pau.

• point_head for msg PointHead.msg (e.g. [0.785, 0.0, 0.0] to turn the head 45 deg (0.785 rad) to the side) that will build and send a head rotation msg in quaternion format to cmd_neck_pau. DEPRECIATED

Provided services:

• Call /valid_face_exprs with ValidFaceExprs.srv to request available face expression strings for use in MakeFaceExpr.msg.

Copyright (c) 2016-2018 Hanson Robotics, Ltd. All rights reserved.