The emotion/need/behavior module of Social Interaction Project, with a perform module for Research Group 3's internal testing
Build for the first time:
cd ~
mkdir -p social_interaction_ws/src
cd social_interaction_ws/src
git clone https://github.com/BUAA-ARMS-Lab/FaboEmotionNeedBehavior.git
catkin_init_workspace
cd ..
bash src/FaboEmotionNeedBehavior/build.sh
echo "source ~/social_interaction_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrcBuild after building once:
catkin_make- 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如果要开启需求模块的调试界面，可以输入参数 1
rosrun need_module need_model 1- 仿真接口:
roslaunch interface_sim interface_sim_cfg.launch- 可以发送感知信息、社交态度、idleState等topic
- 修改各topic的内容： 从“O_____”开头的选项向下代表一个topic，第一个“O_____”选项，用于开关是否发送此topic，之后的选项用于修改topic的内容。
- 发送topic： 先通过点击“O_____”开关，选择要发送的topic；再点击第一行的“publish”，发送topic。
手动发布"机器人闲置状态"
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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}"
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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: 'MeasureTemperature', person_name: 'xiaoming', IDtype: 'Student', target_angle: 0.0, target_distance: 0.0, person_emotion: 'happy', satisfy_value: 1}"
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 git branch -m new_main_for_project2 main git fetch origin git branch -u origin/main main git remote set-head origin -a
rostopic pub /BehaviorInstruction social_msg/behavior_msg "header: seq: 0 stamp: {secs: 0, nsecs: 0} frame_id: '' name: 'Stop_All_Actions_Now' scene: 'school' type: '' total_phase: 0 current_phase: 0 occupancy: [1, 1, 1, 1, 1] target: '' target_angle: 0.0 target_distance: 0.0 speech: '' rob_emotion: '' rob_emotion_intensity: 0 attitude: '' move_speed: 0.0 distance: 0.0 voice_speed: 0.0"
一、学校 （1）问好 rostopic pub /perception_msg social_msg/perception_msg "{time: 0.0, person_name: '王老师', IDtype: '老师', scene: 'school', target_angle: 20.0, target_distance: 1000.0, intention: '人机交互', p: 1.0, intention_2: '', p_2: 0.0, person_speech: '', speech: '王老师早上好啊', person_emotion: 'Happy'}"
rostopic pub /perception_msg social_msg/perception_msg "{time: 0.0, person_name: '小明', IDtype: '学生', scene: 'school', target_angle: 20.0, target_distance: 1000.0, intention: '人机交互', p: 1.0, intention_2: '', p_2: 0.0, person_speech: '', speech: '', person_emotion: 'Happy'}"
rostopic pub /perception_msg social_msg/perception_msg "{time: 0.0, person_name: '小明他爸', IDtype: '家长', scene: 'school', target_angle: 20.0, target_distance: 1000.0, intention: '人机交互', p: 1.0, intention_2: '', p_2: 0.0, person_speech: '', speech: '', person_emotion: 'Happy'}"
rostopic pub /perception_msg social_msg/perception_msg "{time: 0.0, person_name: '路人甲', IDtype: '陌生人', scene: 'school', target_angle: 90.0, target_distance: 1000.0, intention: '人机交互', p: 1.0, intention_2: '', p_2: 0.0, person_speech: '', speech: '你好啊，非校内人员进校要先登记和测量体温哦', person_emotion: 'Happy'}"
（2）问询 rostopic pub /perception_msg social_msg/perception_msg "{time: 0.0, person_name: '王老师', IDtype: '老师', scene: 'school', target_angle: 90.0, target_distance: 1000.0, intention: '问询', p: 1.0, intention_2: '', p_2: 0.0, person_speech: '', speech: '抱歉，我也不知道呢', person_emotion: 'Happy'}"
rostopic pub /perception_msg social_msg/perception_msg "{time: 0.0, person_name: '小明', IDtype: '学生', scene: 'school', target_angle: -30.0, target_distance: 1000.0, intention: '问询', p: 1.0, intention_2: '', p_2: 0.0, person_speech: '', speech: '抱歉，我也不知道呢', person_emotion: 'Happy'}"
rostopic pub /perception_msg social_msg/perception_msg "{time: 0.0, person_name: '小明他爸', IDtype: '家长', scene: 'school', target_angle: 0.0, target_distance: 1000.0, intention: '问询', p: 1.0, intention_2: '', p_2: 0.0, person_speech: '', speech: '', person_emotion: 'Happy'}"
rostopic pub /perception_msg social_msg/perception_msg "{time: 0.0, person_name: '路人甲', IDtype: '陌生人', scene: 'school', target_angle: -40.0, target_distance: 1000.0, intention: '问询', p: 1.0, intention_2: '', p_2: 0.0, person_speech: '', speech: '你好啊，非校内人员进校要先登记和测量体温哦', person_emotion: 'Happy'}"
（3）测体温 rostopic pub /perception_msg social_msg/perception_msg "{time: 0.0, person_name: '王老师', IDtype: '老师', scene: 'school', target_angle: 20.0, target_distance: 1000.0, intention: '体温测量', p: 1.0, intention_2: '', p_2: 0.0, person_speech: '', speech: '', person_emotion: 'Happy'}"
rostopic pub /perception_msg social_msg/perception_msg "{time: 0.0, person_name: '小明', IDtype: '学生', scene: 'school', target_angle: -20.0, target_distance: 1000.0, intention: '体温测量', p: 1.0, intention_2: '', p_2: 0.0, person_speech: '', speech: '', person_emotion: 'Happy'}"
rostopic pub /perception_msg social_msg/perception_msg "{time: 0.0, person_name: '小明他爸', IDtype: '家长', scene: 'school', target_angle: 0.0, target_distance: 1000.0, intention: '体温测量', p: 1.0, intention_2: '', p_2: 0.0, person_speech: '', speech: '', person_emotion: 'Happy'}"
rostopic pub /perception_msg social_msg/perception_msg "{time: 0.0, person_name: '路人甲', IDtype: '陌生人', scene: 'school', target_angle: 90.0, target_distance: 1000.0, intention: '体温测量', p: 1.0, intention_2: '', p_2: 0.0, person_speech: '', speech: '你好啊，非校内人员进校要先登记和测量体温哦', person_emotion: 'Happy'}"
（4）日常闲聊 rostopic pub /perception_msg social_msg/perception_msg "{time: 0.0, person_name: '王老师', IDtype: '老师', scene: 'school', target_angle: 0.0, target_distance: 0.0, intention: '日常闲聊', p: 1.0, intention_2: '', p_2: 0.0, person_speech: '', speech: '工作期间不能跟你聊天哦', person_emotion: 'Happy'}"
rostopic pub /perception_msg social_msg/perception_msg "{time: 0.0, person_name: '小明', IDtype: '学生', scene: 'school', target_angle: 0.0, target_distance: 1000.0, intention: '日常闲聊', p: 1.0, intention_2: '', p_2: 0.0, person_speech: '', speech: '工作期间不能跟你聊天哦', person_emotion: 'Happy'}"
rostopic pub /perception_msg social_msg/perception_msg "{time: 0.0, person_name: '小明他爸', IDtype: '家长', scene: 'school', target_angle: 0.0, target_distance: 1000.0, intention: '日常闲聊', p: 1.0, intention_2: '', p_2: 0.0, person_speech: '', speech: '工作期间不能跟你聊天哦', person_emotion: 'Happy'}"
rostopic pub /perception_msg social_msg/perception_msg "{time: 0.0, person_name: '路人甲', IDtype: '陌生人', scene: 'school', target_angle: 0.0, target_distance: 1000.0, intention: '日常闲聊', p: 1.0, intention_2: '', p_2: 0.0, person_speech: '', speech: '工作期间不能跟你聊天哦', person_emotion: 'Happy'}"
二、家庭 （1）人机交互
rostopic pub /perception_msg social_msg/perception_msg "{time: 0.0, person_name: '小明', IDtype: '孩子', scene: 'family', target_angle: 0.0, target_distance: 1000.0, intention: '人机交互', p: 1.0, intention_2: '', p_2: 0.0, person_speech: '', speech: '', person_emotion: 'Happy'}"
rostopic pub /perception_msg social_msg/perception_msg "{time: 0.0, person_name: '小明他爸', IDtype: '家长', scene: 'family', target_angle: 20.0, target_distance: 1000.0, intention: '人机交互', p: 1.0, intention_2: '', p_2: 0.0, person_speech: '', speech: '', person_emotion: 'Happy'}"
（2）问询 rostopic pub /perception_msg social_msg/perception_msg "{time: 0.0, person_name: '王老师', IDtype: '老师', scene: 'family', target_angle: 90.0, target_distance: 1000.0, intention: '问询', p: 1.0, intention_2: '', p_2: 0.0, person_speech: '', speech: '抱歉，我也不知道呢', person_emotion: 'Happy'}"
rostopic pub /perception_msg social_msg/perception_msg "{time: 0.0, person_name: '小明他爸', IDtype: '家长', scene: 'family', target_angle: 0.0, target_distance: 1000.0, intention: '问询', p: 1.0, intention_2: '', p_2: 0.0, person_speech: '', speech: '', person_emotion: 'Happy'}"
三、医院 （2）问询 rostopic pub /perception_msg social_msg/perception_msg "{time: 0.0, person_name: '王老师', IDtype: '病人', scene: 'hospital', target_angle: 0.0, target_distance: 1000.0, intention: '问询', p: 1.0, intention_2: '', p_2: 0.0, person_speech: '', speech: '抱歉，我也不知道呢', person_emotion: 'Happy'}"
rostopic pub /BehaviorInstruction social_msg/behavior_msg "header: seq: 0 stamp: {secs: 10101010, nsecs: 0} frame_id: '' name: 'Answer' scene: 'hospital' type: '' total_phase: 2 current_phase: 0 occupancy: [1, 1, 1, 1, 1] target: '小明' target_angle: 0.0 target_distance: 1000.0 speech: '你好啊，你是生病了吗？' rob_emotion: 'Calm' rob_emotion_intensity: 1 attitude: '热情' move_speed: 200.0 distance: 1000.0 voice_speed: 0.0" -1
rostopic pub /BehaviorInstruction social_msg/behavior_msg "header: seq: 0 stamp: {secs: 0, nsecs: 0} frame_id: '' name: 'Wander' scene: 'school' type: '' total_phase: 8 current_phase: 0 occupancy: [1, 1, 1, 1, 1] target: '' target_angle: 0.0 target_distance: 0.0 speech: '123456' rob_emotion: '' rob_emotion_intensity: 0 attitude: '' move_speed: 200.0 distance: 1000.0 voice_speed: 0.0" -1
rostopic pub /BehaviorInstruction social_msg/behavior_msg "header: seq: 0 stamp: {secs: 0, nsecs: 0} frame_id: '' name: 'Stop_All_Actions_Now' scene: 'school' type: '' total_phase: 0 current_phase: 0 occupancy: [1, 1, 1, 1, 1] target: '' target_angle: 0.0 target_distance: 0.0 speech: '' rob_emotion: '' rob_emotion_intensity: 0 attitude: '' move_speed: 0.0 distance: 0.0 voice_speed: 0.0" -1
rostopic pub /BehaviorInstruction social_msg/behavior_msg "header: seq: 0 stamp: {secs: 0, nsecs: 0} frame_id: '' name: 'WarmGreet' scene: 'school' type: '' total_phase: 3 current_phase: 0 occupancy: [1, 1, 1, 1, 1] target: '' target_angle: 15.0 target_distance: 1000.0 speech: '小明你好阿' rob_emotion: '' rob_emotion_intensity: 0 attitude: '' move_speed: 200.0 distance: 1000.0 voice_speed: 0.0" -1
rostopic pub /BehaviorFeedback social_msg/behavior_feedback_msg "header: seq: 0 stamp: secs: 1702730750 nsecs: 0 frame_id: '' hehavior_name: 'WarmGreet' total_phase: 3 current_phase: 3" -1
rostopic pub /BehaviorFeedback social_msg/behavior_feedback_msg "header: seq: 0 stamp: secs: 1702730395 nsecs: 0 frame_id: '' hehavior_name: 'MeasureTemperature' total_phase: 6 current_phase: 6" -1
rostopic pub /BehaviorFeedback social_msg/behavior_feedback_msg "header: seq: 0 stamp: secs: 1702731291 nsecs: 0 frame_id: '' hehavior_name: 'Answer' total_phase: 2 current_phase: 2" -1
rosrun need_module need_model 1 rosrun behavior_module behavior_node rostopic echo /BehaviorInstruction rosrun behavior_module sub_beh_feedback.py
快捷键 testn testb teste testf