HCI Node

• HCI Node
  • Dependency Installation
  • Description
    • Corner Extractor Node
      • Subscribed
      • Published
    • Pedestrian Warner Node
      • Subscribed
      • Published
      • Called Service
    • Messages
    • ROS Parameters
    • What if I want to contribute without Cabot?
    • Troubleshooting

Dependency Installation

rosdep install hci_node

Description

This package contains several nodes that all serve for HCI purposes, including

• Corner Extractor Node: Extract corner infor from Path
• Sound Play Node: warns the user before and after a turn through text-to-speech
• Pedestrian Warner Node: warns the user about pedestrian ahead and slow down Cabot

Corner Extractor Node

rosrun hci_node corner_extractor.py

This node will listen to global plan published by navigation stack, extract the corners and publish them. The paramters can be configured in __init__ in corner_extractor.py

Subscribed

• /move_base/NavfnROS/plan: nav_msgs::Path

Published

• /corners: geometry_msgs::PoseArray

Pedestrian Warner Node

This node read pedestrians detected by Kinect, then make sound to tell the user. It also slow the robot down.

Subscribed

• /people_points: kinect2_tracker::user_points, center of mass for each person

Published

• /say: std_messages::String, things for GUI to say

Called Service

• /move_base/DWAPlannerROS/set_parameters, Dynamic Reconfigure service

Messages

• waypoint message, containing the waypoint CaBot is trying to reach and the current distance from the waypoint

ROS Parameters

• turn_threshold - maximum angle (in radians) before user is warned about turn
• warn_threshold - maximum distance (in meters) before user is warned about turn
• isFeet - True = use feet for distance units, False = use meters as distance units

What if I want to contribute without Cabot?

We get you covered. Cabot has a nice simulator. Just run roslaunch localizer simulated_planner.launch, and you will get everything you want! (except lidar scan data) You can add destination and pose estimation directly through rviz

Troubleshooting

• For soundplay, please refer to the tutorials/troubleshooting in the sound_play ROS library
• For corner extractor, ask Yanda