HEAD

Hanson Environment for Application Development

This repository contains the integrated code for controlling and interacting with many Hanson Robotics robot heads. It includes the full performance pipeline and infrastructure:

• Perception, via ROS webcam nodes.
• Face detection, for seeing faces in the room.
• Blender robot model, for gracefully controlling facial expressions.
• Behavior tree, for scripting performaces.
• Motor control ROS nodes, for controlling the physical robot.

Prerequisites

• Only Ubuntu 14.04 is supported

Install, build and run

• Get hrtool

wget https://raw.githubusercontent.com/hansonrobotics/HEAD/master/scripts/hrtool -O /tmp/hrtool

• Make it executable

chmod +x /tmp/hrtool

• Set the workspace, default workspace is ~/hansonrobotics (optional)

/tmp/hrtool -w <workspace>

• Get HEAD and OpenCog source code

/tmp/hrtool -G

• Install Dependencies

/tmp/hrtool -i

• Build HR workspace and OpenCog

/tmp/hrtool -B

• Remove hrtool. After the source code is built we don't need this script anymore.

rm /tmp/hrtool

• Run

cd ~/hansonrobotics/HEAD && ./dev.sh

• Open web browser

HTTP: http://127.0.0.1:8000/ or HTTPS: https://127.0.0.1:4000/

Some other options of hrtool

hrtool is included in ~/hansonrobotics/HEAD/scripts

• -s Build a single ROS package and it's related dependecies.

• -v Get the latest vision codes relating to cmt.

• -d Checkout latest OpenCog (developer mode).

This option is used when you want to get the latest OpenCog stack. It will set the remote of git repositories of OpenCog to OpenCog domain.

• -U Update the code to the latest including HEAD and OpenCog stack.

• -c Clean up OpenCog installation and cache.

• -h Show more options.

Other options for running HEAD.

cd ~/hansonrobotics/HEAD/scripts

• Run with cmt as default camera tracker

./dev.sh --cmt

• Run with OpenCog chatbot instead of AIML based chatbot.

./dev.sh --oc

• Run vision tools

./vision.sh cmt #For running with cmt/pi_vision

Troubleshooting

pip3 is not found

Reinstall pip3 apt-get install -y --reinstall python3-pip