Adding people perception and other things #76
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@suryaambrose what do you think? there are many useful features! |
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@cdondrup you may want to rebase for resolving merge conflicts. |
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@nlyubova I'd rather not merging this, at least for now. naoqi_driver was supposed to be about very "low" robotics stuff (very sensor-oriented). Battery status is fine for that matter, and sound source localisation can also be good, but I am less keen on letting people perception and behavior manager features in. A while ago, @kochigami also proposed to bind PeoplePerception and FaceDetection API and we refused (and she finally binded those API in naoqi_apps, which is more suited for that I think, even though it is in Python). However, if the willingness to bind those API here is strong, this "sensor-only" orientation can of course be challenged. |
…seArray Also adding the possibility of publishing mutliple faces
…cking are supported.
Adding more functionality from ALLocalization Introducing sub-namespaces for all new services to make the easier to distinguish
…ve a blocking call.
…t allows to make blocking calls in addition to the fire and forget topic that already exists. Also adding basic robot posture control.
Adding additional ALLocalization, ALTracker, and ALMotion services This PR adds more functionality in terms of services. **Major change to interface:** The services are now prefixed with a subnamespace to be able to distinguish them better. E.g. `/naoqi_driver/start_behaviour` is now `/naoqi_driver/behavior_manager/start_behaviour`, etc. While this is a major change that requires altering modules using these services, I believe that it is necessary given the amount of services provided by the driver. Also, I don't think that anyone but me is currently using these functionalities. **Added functionality:** * ALLocalization: * Loading, saving, and clearing of localisation data * Checking if localisation data is loaded * Stopping everything (to be able to preempt the action of going home) * Looking up error messages based on their error code * ALTracker * `lookAt` and `pointAt` functionality * ALMotion * En-/Dis-abling breathing animation * Speech synthesis * While `ALTextToSpeech.say` and `ALAnimatedSpeech.say` are already implemented as subscribers, I also implemented them as services which provide the unique benefit of being a blocking call. This is essential for the dialogue because we need to know when the robot has finished its utterance. You can still use both. This requires: http://protolab.aldebaran.com:9000/mummer/nao_interaction/merge_requests/4 See merge request !6
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Hi,
I am part of the MuMMER project and we recently started using the pepper robot and required some functionalities that weren't implemented in the current version of the driver.
This PR is based on #56 and includes #65 as well.
Here a list of the added functionality:
Additionally, it also contains a few commits of @nlyubova regarding distortion and colour spaces. All this currently relies on the
nao_interaction_msgspackage which can be found in my fork: https://github.com/cdondrup/nao_interaction (didn't want to open a PR for that because I don't think this has a chance of being merged as it currently is ;) )This PR is not really meant to be merged directly as it might introduce too many untested changes but should mainly serve to show what we are currently working on in case people are interested. I am more than happy about comments and if there is any interest I am of course happy to restructure for a possible merge so we can keep a cleaner commit history.
All this has been tested by @nlyubova and myself on pepper but not on NAO.