Initial behaviour tree for Eva. Current verion designed to work with Dmitroid robot and current nodes already developed.

The Owyl Behavior Trees package is required: https://github.com/eykd/owyl/ To install:

1. git clone git@github.com:eykd/owyl.git
2. sudo python setup.py install

This is meant to be used in conjuction with the robo_blender ROS node.

To run:

rosrun eva_behavior general_behavior.py

#####Messages defined:

• event:

string event
string param

Specifies event(new_face,exit) with the face_id as parameter.

• tracking_message

string target
string action
string params

Specifies what to track (topic name that publishes sensor_msgs/RegionOFInterest message), action (track, glance), params (time to track).

• behavior_switch (std_msgs/String). Values: ("btree_on", "btree_off"). By default the behaviour tree is off and it needs to receive btree_on to start.
• tracking_event (eva_behavior/event). Event received from the perception nodes, currently only pi_vision.

• cmd_blendermode (std_msgs/String). Blender mode used for tracking: Dummy (do nothing), TrackDev(tracking objects), LookAround (looking for attention).
• tracking_action (eva_behavior/tracking_message). Sends the command to blender for specific object tracking (track, glance).
• make_coupled_face_expr (basic_head_api/MakeCoupledFaceExpr). Sends the expression and intensity for the current robot to basic_head_api node.