w@icar

This project (ROS Package) implements a model based on bidirectional multi-modal signs of checking human-robot engagement and interaction.

Prerequisites:

• NAO or Pepper Robot (https://www.softbankrobotics.com/)
• Choreograph (https://www.softbankrobotics.com/emea/en/support/)
• ROS (https://www.ros.org/) (rosdistro: kinetic)
• NAOqi (http://doc.aldebaran.com/index.html)
• Python 2.7
• rospy (http://wiki.ros.org/rospy)
• pepper-bringup (http://wiki.ros.org/pepper)
• nao-bringup (http://wiki.ros.org/nao)

Installation:

• Clone GitHub repository into src directory of your ROS workspace (git clone https://github.com/hri-cnr-lab/w_icar.git)
• Execute catkin_make on the root of your ROS workspace
• Install in the robot all behaviours with Choreograph from src/w_icar/behaviours

Configuration:

Set your parameters in src/w_icar/launch/engagement.launch

• robot_ip [IP of the robot] (Default: from "pepper" name on DNS or in file /etc/hosts)
• robot_port [NAOqi proxy port] (Default: from environment variable NAO_PORT or the 9559 value)
• robot_name [The robot name] (Default: "pepper")
• engMode [The engagement mode] ("Unengaged", “FullyEngaged“, “SemiEngaged“. Default: "FullyEngaged")
• trackMode [The tracking mode] (“Head“, “BodyRotation“, “WholeBody“, “MoveContextually“. Default: "BodyRotation")

Execution:

• Launch the roscore
• Launch pepper bringup (roslaunch pepper_bringup pepper_full.launch nao_ip:=<robot_ip> namespace:=<robot_name>)
• Launch w_icar engagement (roslaunch w_icar engagement.launch)
• Launch w_icar w_icar (roslaunch w_icar w_icar.launch)