def __init__(self):
rospy.init_node('ava_voice_cmd')
rospy.on_shutdown(self.cleanup)
self.msg = Twist()
self.social_cues = robot_api.Social_Cues()
self.social_cues.express_neutral()
self.lights = robot_api.Lights()
self.sound_src = kuri_api.SoundSource('AvaVoiceCommand')
self.sound_src_music = kuri_api.SoundSource('AvaVoiceCommand-music')
self._base = robot_api.Base()
self._head = robot_api.Head()
# set head to neutral
self._head.pan_and_tilt(0, -0.1)
self._face_behavior = FaceBehavior()
self._nav_waypoint = NavWaypoint()
self._sleeping = False
# publish to cmd_vel (publishes empty twist message to stop), subscribe to speech output
self._pub = rospy.Publisher('cmd_vel', Twist, queue_size=10)
rospy.Subscriber('recognizer/asr_output', String, self.speechCb)
# PROMPTING THREAD
#self._kill_prompt_thread = False
#threading.Thread(target=self._prompt_thread).start()
rospy.on_shutdown(self.cleanup)
self._log_set_state(REST)
self._sound_dir = os.path.expanduser(
'~') + "/catkin_ws/src/cse481wi19/ava_custom_audio"
rospy.spin()
def __init__(self):
rospy.init_node('face_detect_demo')
self.wait_for_time()
self.lights = robot_api.Lights()
rospy.sleep(0.5)
self.head = robot_api.FullBodyLookAt(
tf_listener=tf.TransformListener())
self.body = robot_api.Base()
self.social_cues = robot_api.Social_Cues(move_head=False,
use_sounds=False)
self.publisher = rospy.Publisher('face_pose_marker',
Marker,
queue_size=10)
self.command_sub = rospy.Subscriber('move_command',
Bool,
queue_size=1,
callback=self.command_callback)
self.face_already_seen = False
self.move_command = False
self.num_faces = 0
vision = robot_api.Vision()
vision.activate("face_detector", config={"fps": 1})
rospy.sleep(0.5)
vision.wait_until_ready(timeout=10)
vision.face_change.connect(self.face_callback)
if SOCIAL_CUES:
self.social_cues.express_neutral()
rospy.spin()
def __init__(self):
self.face_pub = rospy.Publisher('vision/most_confident_face_pos',
PointStamped,
queue_size=10)
self.num_faces_pub = rospy.Publisher('vision/face_count',
Int8,
queue_size=10)
self.lights = robot_api.Lights()
self.head = robot_api.Head()
self.lock = RLock()
self.base = robot_api.Base()
self.facesDemo = FaceInteractionDemo()
rospy.sleep(0.5)
def __init__(self,
feedback_cb=None,
done_cb=None,
use_sounds=True,
move_head=True):
self.head = robot_api.Head()
self.lights = robot_api.Lights()
self.use_sounds = use_sounds
if self.use_sounds:
self.sound_src = kuri_api.SoundSource('Ava')
self.move_head = move_head
self._feedback_cb = feedback_cb
self._done_cb = done_cb
self._sound_dir = os.path.expanduser(
'~') + "/catkin_ws/src/cse481wi19/ava_custom_audio"
def __init__(self):
# Initialize node
rospy.init_node("luci_control")
rospy.on_shutdown(self.shutdown)
# Create a publisher for the grammar data and raw audio
self.pub_grammar = rospy.Publisher("grammar_data",
String,
queue_size=10)
self.pub_audio = rospy.Publisher("raw_audio", String, queue_size=10)
# Subscribe to grammar data output
rospy.Subscriber("grammar_data", String, self.parse_results)
# Set language model and dictionary
self.class_lm = 'corpus/luci.lm'
self.dict = 'corpus/luci.dic'
# Used in process_audio (from asr_test.py)
self.in_speech_bf = False
# Set this file from "/usr/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k"
self.hmm = 'corpus/hmm'
# Intializing robot API
self.lights = robot_api.Lights()
self.expressions = robot_api.Expressions()
self.sound_source = robot_api.SoundSource('Luci')
# Initialize alsa audio PCM: (Using 16000Hz, 16 Bit Encoding, 1 Channel)
self.inp = alsaaudio.PCM(alsaaudio.PCM_CAPTURE, alsaaudio.PCM_NONBLOCK)
self.inp.setchannels(1)
self.inp.setrate(16000)
self.inp.setformat(alsaaudio.PCM_FORMAT_S16_LE)
self.inp.setperiodsize(160)
# All params satisfied. Starting recognizer
t1 = Thread(target=self.start_recognizer)
t1.start()
# # Spin up new thread to listen for raw audio input
t2 = Thread(target=self._listen)
t2.start()
rospy.spin()
def main():
rospy.init_node('gripper_demo')
wait_for_time()
argv = rospy.myargv()
if len(argv) < 2:
print_usage()
return
command = argv[1]
lights = robot_api.Lights()
if command == 'off':
rospy.logerr('Not implemented.')
elif command == 'on':
rospy.logerr('Not implemented.')
else:
print_usage()
def __init__(self):
self.face_pub = rospy.Publisher('vision/most_confident_face_pos',
PointStamped,
queue_size=10)
self.num_faces_pub = rospy.Publisher('vision/face_count',
Int8,
queue_size=10)
self.lights = robot_api.Lights()
self.head = robot_api.Head()
self.lock = RLock()
self.base = robot_api.Base()
self.expressions = robot_api.Expressions()
self.follow = False # Indicates if Luci should follow someone
self.face_exists = False # Indicates if Luci confidently detects a face
self.face_detection_counter = 0
rospy.sleep(
0.5
) # Adding sleep to make sure there's enough to initialize other objects
def main():
rospy.init_node('gripper_demo')
wait_for_time()
argv = rospy.myargv()
if len(argv) < 2:
print_usage()
return
command = argv[1]
lights = robot_api.Lights()
if command == 'off':
lights.off()
elif command == 'on':
lights.put_pixels(lights.ALL_ON)
else:
print_usage()
def __init__(self):
rospy.on_shutdown(self.shutdown)
# Create a publisher for the grammar data and raw audio
self.pub_grammar = rospy.Publisher("grammar_data", String, queue_size=10)
self.pub_audio = rospy.Publisher("raw_audio", String, queue_size=10)
self.alert_pub = rospy.Publisher('patient_monitor/alerts', Alert, queue_size=10)
self.alert_client(1)
#self.alert_client(2)
#self.alert_client(3)
# Subscribe to grammar data output
rospy.Subscriber("grammar_data", String, self.parse_results)
# Set language model and dictionary
self.class_lm = 'corpus/final.lm'
self.dict = 'corpus/final.dic'
# Used in process_audio (from asr_test.py)
self.in_speech_bf = False
# Set this file from "/usr/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k"
self.hmm = 'corpus/hmm'
# Intializing robot API
self.lights = robot_api.Lights()
self.expressions = robot_api.Expressions()
self.sound_source = robot_api.SoundSource('Luci')
# Initialize alsa audio PCM: (Using 16000Hz, 16 Bit Encoding, 1 Channel)
self.inp = alsaaudio.PCM(alsaaudio.PCM_CAPTURE, alsaaudio.PCM_NONBLOCK)
self.inp.setchannels(1)
self.inp.setrate(16000)
self.inp.setformat(alsaaudio.PCM_FORMAT_S16_LE)
self.inp.setperiodsize(160)
start_thread = Thread(target=self._start)
start_thread.start()
def main():
rospy.init_node('gripper_demo')
wait_for_time()
argv = rospy.myargv()
if len(argv) < 2:
print_usage()
return
command = argv[1]
lights = robot_api.Lights()
if command == 'off':
lights.off()
elif command == 'on':
lights.all_leds(lights.BLUE)
elif command == 'color':
count = 0
color = [lights.RED, lights.BLUE, lights.GREEN]
while True:
num = count % 3
lights.all_leds(color[num])
count += 1
else:
print_usage()
def __init__(self):
self.lights = robot_api.Lights()
self._listener = tf.TransformListener()
self.head = robot_api.FullBodyLookAt(tf_listener=self._listener)
self.body = robot_api.Base()
self.nav_client = NavWaypoint()
self.publisher = rospy.Publisher('face_pose_marker',
Marker,
queue_size=10)
self.num_faces = 0
self.count = 0
self.face_point = None
# self.talk_position = None
self.look_at = True
self.wait_for_time()
vision = robot_api.Vision()
vision.activate("face_detector", config={"fps": 1})
rospy.sleep(0.5)
vision.wait_until_ready(timeout=10)
self.face_sub = rospy.Subscriber('vision/results',
FrameResults,
self.face_callback,
queue_size=1)
def __init__(self):
self.face_pub = rospy.Publisher('vision/most_confident_face_pos', PointStamped, queue_size=10)
self.num_faces_pub = rospy.Publisher('vision/face_count', Int8, queue_size=10)
self.lights = robot_api.Lights()
self.head = robot_api.Head()
self.lock = RLock()
self.base = robot_api.Base()
self.lastFacePos = None
self.vision = robot_api.Vision()
# Activate Vision API's Face Detector
self.vision.activate("face_detector", config={"fps": 3})
rospy.sleep(0.5)
self.vision.wait_until_ready(timeout=10)
self.vision.req_mods([["activate", "face_detector", {"fps": 3}, {"skip_ratio": 3}]], [])
# Trigger callback
rospy.Subscriber('vision/results', FrameResults, self.callback)
rospy.Subscriber('vision/most_confident_face_pos', PointStamped, self.onFacePos)
rospy.Subscriber('come_here_kuri', Int8, self.navigateTo)
rospy.sleep(0.5)
rospy.spin()
def __init__(self):
self._head = robot_api.Head(None)
self._lights = robot_api.Lights()
def all_leds(cls, color):
# TODO: Turn all LEDS to `color`
# this was taken from red comments above
chest_leds = robot_api.Lights()
chest_leds.put_pixels([color] * Lights.NUM_LEDS)
rospy.loginfo(cls)