Face & Emotions

Installation on Andoid

@Rafael Hostettler push the most recent executable to the repo (there’s a bin folder)

Running ROS bridge

In order to control emotions via ROS messages, the Android executable has to connect to the ROS master via a websocket. One can either use automated toggle button in the Roboy Dashboard or follow the steps manually:

sudo apt install ros-$ROS_DISTRO-rosbridge-suite
cd ~/catkin_ws/src
git clone https://github.com/Roboy/roboy_face.git
cd ~/catkin_ws && catkin_make
roslaunch roboy_face roboy_face.launch &
roslaunch rosbridge_server rosbridge_websocket
# start the beamer executable 
# wait for "Subscribed to /roboy/eyes..." messages

# to stop face-related ROS nodes
rosnode kill /unity_face /rosbridge_websocket

Controlling Emotions via ROS

# trigger facial expressions
rosservice call /roboy/brain/cognition/face/emotion "emotion: 'shy'" 
rostopic pub /roboy/brain/cognition/face/show_emotion std_msgs/String "data: 'shy'"

# start talking mouth animation
rostopic pub /roboy/brain/cognition/speech/synthesis roboy_cognition_msgs/SpeechSynthesis "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
phoneme: 'o'
duration: 0" 

# stop talking mouth animation
rostopic pub /roboy/brain/cognition/speech/synthesis roboy_cognition_msgs/SpeechSynthesis "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
phoneme: 'sil'
duration: 0" 

# move eyes
rostopic pub /roboy/brain/eyes geometry_msgs/PoseStamped "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
pose:
  position:
    x: 10.0
    y: 5.0
    z: 0.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 0.0"

Available emotions:

kiss
smileblink
shy
angry
(happy)
hearts
hypno
hypno_color
rolling
(pissed)
(lookleft)
(lookright)