- executive_smach
- mummer_integration_msgs
- dialogue_as
roslaunch perspectives bringup_pepper.launch
Services
- /naoqi_driver/robot_posture/go_to_posture
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
roslaunch perspectives ontology.launch
Services
- /semantic_route_description/get_route_region
- /route_description/get_region_route
- /ontoloGenius/individual
docker run --net=host -e ROS_MASTER_URI=${ROS_MASTER_URI} -v ${current_dir}/move4d:/move4d move4d_ros
Action server
- pointing_planner/PointingPlanner
From the docker repository
docker run --net=host -e ROS_MASTER_URI=${ROS_MASTER_URI} nav:nav
Action server
- m_move_to
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
rosrun person_manager start_perception.sh -c config_openpose.ini
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
https://github.com/LAAS-HRI/perspectives
https://github.com/LAAS-HRI/semantic_route_description
https://github.com/LAAS-HRI/mummer_integration/tree/master/navigation