Differences

This shows you the differences between two versions of the page.

--- pepper-imitation:pepper-imitation [2018/06/28 19:08]
s4pepper2018
+++ pepper-imitation:pepper-imitation [2018/06/28 19:26]
s4pepper2018
@@ Line 26: / Line 26: @@
   * pepper_imitation: the system developed by the S4 team.
-Dependencies (and even ROS itself if not present in the system), can be installed by running installDependencies.sh in pepper_imitation/installDependencies.sh.
+Dependencies (and even ROS itself if not present in the system), can be installed running installDependencies.sh in pepper_imitation/installDependencies.sh.
 ===== Running the game =====
-The game sequence can be started by running the roslaunch file pepper_imitation_game.launch. The skeleton tracker and the kinect driver are to be run separately using the file pepper_imitation_kinect.launch.
+The game sequence can be started by running the roslaunch file pepper_imitation_game.launch.
+The skeleton tracker and the kinect driver are to be run separately using the file pepper_imitation_kinect.launch.
+Body pose checks can be disabled in pepper_imitation_node.launch, setting the "skip_pose_checks" parameter to true. If disabled, the game will assume all the checks to be correct.
 ===== Architecture =====
 The system is made up of the following nodes:
-  *
+  * pepper_audio_player_node: offers an interface capable of loading, starting and stopping and audio file saved in Pepper's internal computer. It reports back the current playing time as well.
+  * pepper_face_tracker_node: enable/disable Pepper's built-in random face tracking.
+  * pepper_tts_node: interface to use Pepper's TTS engine. It supports emotional speech as well (e.g: //style=joyful//).
+  * pepper_tablet_node: pops up an input box for the user to type his name before starting the game.
+  * pepper_imitation_node: command the different gestures and checks if the detected person's pose - if any - is similar.
+  * pepper_teleop_joy_node: allows to control the robot's movement and rotation using a joystick. Keep in mind that the default joystick's values defined in the node have been set up to match those of a wired Xbox controller.
+All this nodes can be run separately and commanded by publishing in their respective topics, allowing a Wizard of Oz-ish level of control.
+The actual game and synchronization is achieved by means of a state machine, defined in "pepper_imitation_game_node.py" file. SMACH was the library chosen for this.
+===== Known issues and limitations =====