Alice Nardelli - [[email protected]] Iacopo Pietrasanta - [[email protected]] Federico Civetta - [[email protected]]
This package is meant to perform PeoplePerception behaviour when the Tiago robot reaches a table's waypoint, so that it can count how many people are seated there
After having launched the simulated environment provided by the SciRoc organizers, this package can be tested through a launch file that can be found within the respective directory
Within this script, we have defined an action server and an action client. The** server** implements the people perception action utilising the PeopleCounter.action message reported below:
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int64 n_people
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Once the people perception action gets activated, the node works as a FSM moving to different head orientations in order to detect accurately the number of people at a certain table. For the sake of completness, the actual node employed for processing the images consists in a non-ROS module called aside as a child process (namely /root/images/PeopleDetection.py )by the action server itself (This is due to the fact that ros melodic distro only supports python 2.7 whereas the people perception library we use needs a newer version).
As far as the client is concerned, it calls the action for controlling the robot's head needed for transitioning between states. Moreover, it exploits the control_msgs/FollowJointTrajectoryAction.msg
This node implements a client for calling the people detection action by simply sending a requests and waiting for a response to then print it. This script is needed to allow the use of the action but of course the actual action client will be implemented in the main logic of the robot
This node implements the same action client present within the Peopledetection_actionserver.py
All the images present within this repo are meant for testing purposes