Indoor-mobile-robot-with-arms

Usage

git clone https://github.com/GetOverMassif/faboRobotBehavior.git
cd faboRobotBehavior
bash build.sh
source devel/setup.bash

To control robot arms to do designed actions:

roslaunch arm_control arm_control.launch

To test behavior_module only:

rosrun behavior_module behavior_node

To test behavior_module and perform_module together, controling fabo by bluetooth:

roslaunch behavior_module bluetooth_demo.launch

Use the following to publish different topics more easily:

rosrun behavior_module talker.py

Emotion Module

rosrun emotion_module main.py

Need Module

rosrun need_module need_model

Others

手动发布"机器人闲置状态"

• 发送“无后续行为”的闲置状态,从而使机器人在闲置30秒后,生成“无聊”的情绪。

  rostopic pub -1 /idleState social_msg/idleState "{idleState: true, hehavior_name: '', person_name: '', IDtype: '', target_angle: 0.0, target_distance: 0.0, person_emotion: '', satisfy_value: 0}"

• 发送“测温”行为结束的闲置状态,从而生成Pass放行的入校的需求,同时机器人会因为完成了”测温行为“而生成“高兴”的情绪。

  rostopic pub -1 /idleState social_msg/idleState "{idleState: false, hehavior_name: 'MeasureTempareture', person_name: 'xiaoming', IDtype: 'Student', target_angle: 0.0, target_distance: 0.0, person_emotion: 'happy', satisfy_value: 1}"