Human-Robot-Interaction

Quick Start

See README.md in each folder to install the environment.

Following steps are for local host to run the system.

Step 1: startup roscore

roscore

Step 2: follow the simulation README.md to startup simulation interface

roslaunch robot_sim_demo turtlebot_world.launch

roslaunch turtlebot_rviz_launchers view_navigation.launch

roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/home/$USERNAME$/tutorial_ws/src/mymap/mymap.yaml

In addition, the path in 'simulation/mymap/mymap.yaml' should be change to your own file path

Step 3: open a new terminal and cd to your project directory(for every step, a new terminal should be opened and cd to project directory first), then run

python tcpNode.pyshe

Now wait the remote client to connect.

Step 4:

python objNode.py

Step 5:

cd simulation
python HRI_sim.py

Step 6:

python main.py

Message Definition

Main_Sub (Send by)	Main_Pub (Send to)
'Init'	Turtle_start (SimNode)
Turtle_reach_human1 (SimNode)	Human_detect (TcpNode)
Human1 (TcpNode)	Human_find2 (SimNode)
Human2 (TcpNode)	Human_find3 (SimNode)
Human3 (TcpNode)	Turtle_go (SimNode)
Turtle_reach_goods (SimNode)	Object_detect (ObjNode)
Object_detected (ObjNode)	Turtle_back (SimNode)
Turtle_reach_human2 (SimNode)	Send_object (TcpNode)

(Remote Host do face comparision after receiving object)