display_emotions

ROS package that displays emotions through faces based on Plutchik's Wheel of Emotions ¹. Working in Kinetic and Melodic.

Please install the following dependencies before running the package:

sudo apt-get install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev

Then install the package in your catkin workspace:

# Clone repository
cd catkin_ws/src/
git clone https://github.com/UtBotsAtHome-UTFPR/display_emotions.git

# Compile workspace
cd ..
catkin_make

List of emotions

An idle face is displayed by default if no other emotion is requested. Also, eight basic emotions are possible, alongside two Low Intensity variations and one High Intensity variation for each. All of them can be requested to be displayed, even the idle face.

Basic Emotion	Low Intensity	High Intensity
joy	serenity and much_serenity	ecstasy
trust	acceptance and much_acceptance	admiration
fear	apprehension and much_apprehension	terror
surprise	distraction and much_distraction	amazement
sadness	pensiveness and much_pensiveness	grief
disgust	boredom and much_boredom	loathing
anger	annoyance and much_annoyance	rage
anticipation	interest and much_interest	vigilance

¹

Running

To display an emotion, first run the launch file:

roslaunch display_emotions display_emotions.launch

And then publish a message of type String to the topic /emotion:

rostopic pub /utbots/display_emotions/emotion std_msgs/String "data: 'joy'"

Parameters:

• faces_cycle: make the images cycle between the most intense emotion desired or stay still at the emotion set (default: true)

• faces_cycle_delay: the delay in seconds to shift between emotions (only active if faces_cycle is active)

• reset_to_idle: if true displays only one cycle for a subscribed emotion and then resets the emotion to idle

Footnotes

1. R. PLUTCHIK, R.; KELLERMAN, H. (Ed.). Emotion: theory, research and experience. New York: Academic press, 1986. ↩ ↩²