Human Interactions

Dependencies

• ROS packages

  • tiago_sim_integration
  • tasker

TurnToHuman action

When called, orients the robots to face the human.

If possible only the head will move. If the goal is outside of its range of motion, the robot will rotate its torso beforehand.

Running the server

roslaunch human_interactions turn_to_human_action_server.launch

Testing the action

roslaunch human_interactions run_simulation.launch # Launch the simulation for room 012
roslaunch human_interactions turn_to_human_action_server.launch # Launch the action server
roslaunch human_interactions turn_to_human_action_client.launch # Launch a simple client to trigger the action manually

MoveToHuman action

This action moves the robot to the vicinity of the human, while maintaining safe distance.

When the goal is reached the robot orients itself towards the human.

Running the server

roslaunch human_interactions move_to_human_action_server.launch

Testing the action

roslaunch human_interactions run_simulation.launch # Launch the simulation for room 012
roslaunch human_interactions move_to_human_action_server.launch # Launch the action server
roslaunch human_interactions move_to_human_action_client.launch # Launch a simple client to trigger the action manually

Launching all action servers

roslaunch human_interactions action_servers.launch # Launch all action servers

Code documentation

Sphynx documentation.

# From pkg root
sphinx-apidoc -o doc src # generate .rst files for python modules
make html # or 'rosdoc_lite .' -- generate html doc