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example_config.yaml
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example_config.yaml
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# ---- Simple Robot Gaze Config File ----
# The Simple Robot Gaze component coordinates a Robot's gaze direction.
# This can be done by a) providing (multiple) input sources and by b) prioritizing them.
# For now, the component accepts ROS People messages [1] and ROS RegionOfInterest messsages [2]
# then derives the corresponding robot joint angle configuration using the HLRC [3] library.
# This is accomplished by mapping from the region of interest (faces, ittikoch...) to the camera's
# field of view, robot joint angles respectively.
# This file must reside in ~/.config/simplerobotgaze.yaml
# In order to stop simple robot gaze from controlling the robot simple send "pause" (string msg) to:
# /srg/arbitrate/toggle
# If you send something other than "pause", simple robot gaze will resume operation.
---
# The priority of input data streams, the first entry has the highest priority
priorities:
- /robotgazetools/faces
- /robotgazetools/saliency
# What kind of data are you sending in your input stream, corresponds to priorities. Currently implemented:
# ros:People, ros:PointStamped
datatypes:
- ros:People
- ros:PointStamped
# Resolution of the source camera image, corresponds to the priorities
resolution:
- 320x240
- 320x240
# Camera field of view horizontal and vertical (in degree), also corresponds to the priorities.
fov:
- 66.0x40.0
- 66.0x40.0
# Gaze strategy: relative for moving cameras, absolute for fixed setups, corresponds to the priorities
modes:
- relative
- absolute
# Skip stimulus input x for n seconds. For example: only react every three seconds on stimulus input would be "3.0"
# This corresponds to priorities. The highest allowed value _must_ be less than "boring_timeout" (see below).
stimulus_timeout:
- 0.0
- 0.0
# Based on the input streams (see: priorities). When is a stimulus considered "boring", e.g., no new messages for n
# seconds. The last received timestamp is always evaluated.
# For example: time.now() - timestamp_last_message >= boring_timeout: proceed to the next priority level.
boring_timeout:
- 1.0
# See "peak_override"
allow_peak_override:
- 1
# Peak override: Provide a value that is encoded in your stimulus input messages, e.g, size of face in pixels in order
# to override the base priotrity. This field is only evaluated if allow_peak_override is "1" (see above).
# Example: your first priority is facedetection. However, if there is massive motion detected in the second priority,
# override the first priority. Corresponds priorities.
peak_overrides:
- 100.0
- 50.0
############################
# TODO ROS TF Integration
# tf:
# - base
# - head
# - hand
############################