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Social Mind

Overview

Social HRI Software Framework - Social Mind - is the modularized HRI software framework for developing the social robots. The framework is modularized by each function such as sensory perception, social perception, social mind, dialog, motion arbiter and motion renderer. Each module sends and receives the information (event, data) with each other using the ROS topic, service and actionlib.

Installation (by sources)

    $ cd ~/catkin_ws/src
    $ git clone https://github.com/byeongkyu/social_mind.git
    $ rosdep install --from-paths social_mind --ignore-src -r -y
    $ cd social_mind
    $ find -name 'requirements.txt' | xargs -L 1 sudo pip install -U -r

Topics

/raising_events RaisingEvents.msg via events_multiplexer

  • Type

      Header header
  string recognized_word
  string[] events
  string[] data

    • Example: Speech Recognition

      header:
    seq: 12
    stamp:
    secs: 1505344152
    nsecs: 513442993
    frame_id: ''
recognized_word: Hello
events: ['speech_recognized']
data: ['{"confidence": 1.0, "recognized_word": "Hello"}']

    • Example: Button Input

      header:
    seq: 52
    stamp:
    secs: 1505344319
    nsecs:  13427972
    frame_id: ''
recognized_word: ''
events: ['button_pressed']
data: ['{"text": "yes"}']

/reply Reply.msg received from Scheduler Engine

  • Type

      Header header
  string reply

  • Format

    • Say

      header:
    seq:
    stamp:
    secs:
    nsecs:
    frame_id: ''
reply: "Hello. My name is Silbot"

    • Say with gesture by tag

      header:
    seq:
    stamp:
    secs:
    nsecs:
    frame_id: ''
reply: "<sm=tag:neutral> Hello. My name is Silbot"

    • Say with gesture by specific motion

      header:
    seq:
    stamp:
    secs:
    nsecs:
    frame_id: ''
reply: "<sm=play:sm/open/1> Hello. My name is Silbot"

    • Say with expession

      header:
    seq:
    stamp:
    secs:
    nsecs:
    frame_id: ''
reply: "<expression=happiness> Hello. My name is Silbot"

Tag and Gesture List for Robots typically can find in each robot's render_gesutre package: motions.yaml