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Package Summary

Tags No category tags.
Version 0.0.0
License TODO: License declaration
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/miroboticslab/interaction.git
VCS Type git
VCS Version rolling
Last Updated 2024-09-11
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

cyberdog interactive

Additional Links

No additional links.

Maintainers

  • ShangZihan

Authors

No additional authors.

cyberdog_interactive

许可证(License)

Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved.

Licensed under the Apache License, Version 2.0 (the 'License');
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

    http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an 'AS IS' BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.

目录

项目|软件版本|协议版本|修订日期|修订人员|备注 :--:|:--|:--|:--:|:--:|:--: 互动|V1.1.0.0|V1.0.0.0|2023-02-06|尚子涵|无

2. 概述

仿生机器人互动功能将内置固定场景下的互动功能,作为机器人的基础能力,并以此为用户提供编程例子,抛砖引玉,希望用户(开发者)可以开发出更加好玩炫酷的功能。

3. 设计

3.1. 功能设计

![](./doc/image/cyberdog_interactive_function.svg)

如上图所示,摸下巴的仅在狗处于“坐下”状态时才会触发,且摸下巴动作分为以下三种状态:

  1. 来回触摸下巴:
    • 当障碍物在狗下巴左右来回触摸时会进入该状态,该状态下狗会触发如下动作:
    • 狗吠一声;
    • 左右扭屁股动作;
  2. 触摸下巴左侧:
    • 当障碍物在狗下巴左侧持续触摸时会进入该状态,该状态下狗会触发如下动作:
    • 狗吠一声;
    • 向右扭屁股动作;
  3. 触摸下巴右侧
    • 当障碍物在狗下巴右侧持续触摸时会进入该状态,该状态下狗会触发如下动作:
    • 狗吠一声;
    • 向左扭屁股动作;

3.2 模块设计

![](./doc/image/cyberdog_interactive_module.svg)

如上图所示,该功能可分为两个模块,一个主模块,主模块下仅挂一个检测摸下巴的互动模块,互动模块依赖TOF模块、运动模块和语音模块:

  1. TOF模块:提供头部TOF传感数据,用于感知狗下巴附近是否存在障碍物;
  2. 运动模块:提供基础运动能力;
  3. 和语音模块:提供基础语音交互能力。
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

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Launch files

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Messages

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Services

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Plugins

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Recent questions tagged cyberdog_interactive at Robotics Stack Exchange

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