games_vision

The games_vision package is made of different games for HRI based on vision.

games_vision uses loose dependency strategies to the following packages:

• etts
• gesture_player
• screen_msgs
• touch_skill

For more info, please check the documentation of these packages.

touch_skill

There are several ways to use touch_skill:

• Using TouchListener (TouchListener.h):

#include "TouchListener.h"
class FooTouchListener : public TouchListener {
  public:
  //! the function that will be called when a touch event is recevied
  void touch_cb() {
    if (is_touched())
      etts.sayTextNL("|en:Touched.|es:Tocado.");
    else
      etts.sayTextNL("|en:Released.|es:Soltado.");

    if (is_touched_left_shoulder)
      ...
  } // end touch_cb()
}; // end class FooTouchListener

• Loose dependency: Using the small footprint "capacitive_touch" ROS node, on topic "capacitive_touch"

#include <std_msgs/String.h>
ros::NodeHandle nh_public;
//! fake touch publisher
ros::Publisher touch_pub;
touch_pub = nh_public.advertise<std_msgs::String>("capacitive_touch");
std_msgs::String msg;
msg.data = "left_shoulder";
pub.publish(msg);
//! touch subscriber
ros::Subscriber touch_sub;
touch_sub = nh_public.subscribe<std_msgs::String>("capacitive_touch", 1, touch_cb);

void touch_cb(const std_msgs::StringConstPtr & msg) {
  if (msg->data == "left_shoulder")
    ...
} // end touch_cb()

Licence

LGPL v3 (GNU Lesser General Public License version 3).

How to install

Dependencies from sources

Dependencies handling is based on the wstool tool. Run the following instructions:

$ sudo apt-get install python-wstool
$ roscd ; cd src
$ wstool init
$ wstool merge `rospack find games_vision`/dependencies.rosinstall
$ wstool update

Dependencies included in the Ubuntu packages

Please run the rosdep utility:

$ sudo apt-get install python-rosdep
$ sudo rosdep init
$ rosdep install games_vision --ignore-src

Build package with Catkin

$ catkin_make --only-pkg-with-deps games_vision