Robot configuration files

Robots configuration package.

All robot-specific configs should be in this package.

Arguments

• name: (required) robot name
• mini: (default: false) launch only nodes required for basic expressions and webui to work
• rviz: (default: true) Determines iof rviz needs to be launched
• dev: (default: false) Determines if it is runing for development purposes. Currently it launches the generic face tracker from perception node instead of launching the robot specific camera and tracking settings.

Example: Running Eva

Start robot:

roslaunch robots_config robot.launch name:=eva rviz:=True

It launches the following nodes:

• Motor specific nodes (pololu & dynamixel if needed)
• pau2motors
• basic_head_api
• chatbot
• Text To Speech
• Perception nodes (see geometry.launch)
• Robot specific camera drivers
• pi_vision face tracking
• Rosbridge Suite

Configuration

All configuration files are inside the folder with robot name. The following configuration files are needed for all nodes to run:

bot.properties

Specifies chatbot answers such as name age and etc.

config.yaml

Following parmas has to be set:

• dynamixel controllers settings
• voice (currently jak, giles and heather supported)
• lipsync (True/False) - lypsinc enabled or not

description.urdf

URDF description of robot. Following frames required:

• world
• blender
• camera

expressions.yaml

Expressions for basic_head_api Expressions starting with "vis_" are considered to be visimes.

animations.yaml

Animations for basic_head_api

hardware.launch

Launch file with robot specific motor controllers.

motors.yaml

Non-pololu (currently only dynamixel) motors settings pau mappings and etc.

pololu

Each pololu board has separate yanl file where all configs including PAU mappings are stored. Pololu node process calibration data and adds to motors parameter in similar format as in motors.yaml

tracker.launch

Robot specific camera drivers and pi_vision settings.

Nodes

scripts_launcher.py

Basic script launcher to make simple performances including animations, emotions and tts. See Sophia Basic Scripts for more information