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EDIE_Emotion

ROS package for robot emotional expression.

EDIE is Emotional Design and Interactive Entertainment robot.

By Park JaeHun

Environments

  • Ubuntu 18.04
  • ROS melodic
  • OpenCV 3.4.6

Requirements

  • jsoncpp 
    $ sudo apt-get install libjsoncpp-dev
  • OpenCV

Build

$ catkin_make

Run

  1. Run emotion handler node
$ rosrun edie_emotion_handler edie_emotion_node
  1. Run display node
$ rosrun edie_display edie_display_node

Test

$ rostopic pub /edie/emotion std_msgs/Int8 "data: 1"

How to add new emotion expression

1. Create image folder

$ cd EDIE_Emotion/edie_display/image/Emotions
$ mkdir NEW_EMOTION

2. Add image to image folder

  • name format : "emotions_${id}.png"
  • ex) emotions_0.png

3. Edit emotion_sequence.json

$ vi EDIE_Emotion/edie_display/config/emotion_sequence.json
  • base_contents : List of basic contents.
    • key : a~z
    • value : digit|,|~
      • ex) 1~4 : 1,2,3,4
      • ex) 0,2~4,1 : 0,2,3,4,1
    • ex) "base_contents": {"a": "0", "b": "1~2"}
  • sequence : Sequences created using base contents
    • key : index increments from 0.
    • value :
      • key : "contents"
      • value : a~z|R
        • a~z values means base_content.
        • R means reverse order sequnce. ex) if b : 1,2 then bRb : 1,2,2,1
      • key : "count"
      • value : digit
        • Set the number of times the contents are repeated. ex) if contents: "bRb", "count": 2 then 1,2,2,1,1,2,2,1
      • key : "repeat"
      • value : digit
        • Set the number of times the elements of the content are repeated ex) if contents: "bRb", "repeat": 2 then 1,1,2,2,2,2,1,1
    • ex) add new emotion sequence
      • sequence info 
        "NEW_EMOTION": {
  "base_contents": {
    "a": "0",
    "b": "1~2"
  },
  "sequence": {
    "0": {
      "contents": "a",
      "count": 1
    },
    "1": {
      "contents": "bRb",
      "count": 1
    },
    "2": {
      "contents": "a",
      "count": 5
    }
  }
}
      • sequence : 0,1,2,2,1,0,0,0,0,0

4. Edit EDIE_Emotion/edie_display/src/Emotion.cpp

  • Add NEW_EMOTION 
    std::ostream& operator<<(std::ostream& os, EmotionState state)
{
  switch(state)
  {
    case EmotionState::BLINK         : os << "BLINK"; break;
    case EmotionState::FLINCH        : os << "FLINCH"; break;
    case EmotionState::LAUGH         : os << "LAUGH"; break;
    case EmotionState::LOOK_AROUND   : os << "LOOK_AROUND"; break;
    case EmotionState::LOVE          : os << "LOVE"; break;
    case EmotionState::BATTERYLOW    : os << "BATTERYLOW"; break;
+   case EmotionState::NEW_EMOTION   : os << "NEW_EMOTION"; break;
    default                          : os << "ERROR : " << static_cast<int>(state); break;
  }
  return os;
}

5. Edit EDIE_Emotion/edie_display/include/edie_display/Emotion.hpp

  • Add NEW_EMOTION & Increase COUNT 
    enum class EmotionState
{
  BLINK,
  LAUGH,
  FLINCH,
  LOOK_AROUND,
  LOVE,
  BATTERYLOW,
+ NEW_EMOTION,
- COUNT = 6
+ COUNT = 7
};

Image COPYRIGHT

Aei ROBOT : http://arobot4all.com/