semio_ros

Table of Contents

• Public Packages
• Proprietary Packages
• ROS Message API
• Utility Nodes
• ROS Conversion Classes
• Example Nodes
• Overview
  • Utility Classes
• Examples
• Installation
  • Binaries
  • Source Code

Software for social robots

Overview

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Public Packages

• semio_attention_ros - Visual attention recognition
• semio_deixis_ros - Pointing behavior recognition
• semio_humanoid_ros - semio::Humanoid <-> ROS conversion and utilities
• semio_msgs_ros - ROS message definitions

Proprietary Packages

• semio_visualization_ros - ROS visualization utilities

ROS Message API

• semio_msgs_ros

Utility Nodes

• semio_attention_node - Simple ROS wrapper around semio::AttentionRecognizer
• semio_deixis_node - Simple ROS wrapper around semio::DeicticRecognizer
• semio_humanoid_server_node - Serve humanoids using source/sink model; configurable at runtime via semio::ros::HumanoidSourceAdapter / semio::ros::HumanoidSinkAdapter
• semio_visualization_server_node - Visualize humanoids and recognition results via visualization_msgs/MarkerArray.msg

Utility Classes

• semio::ros::HumanoidSourceAdapter - Select and configure input source for humanoid data
• semio::ros::HumanoidSinkAdapter - Select and configure output sink for humanoid data

ROS Conversion Classes

• semio::ros::HumanoidSourceROS - Extension of semio::HumanoidSource for ROS
• semio::ros::HumanoidSinkROS - Extension of semio::HumanoidSink for ROS

Examples

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Example Nodes

• example_attention_targets_node - Create and publish targets for attention recognition; source humanoids via semio::ros::HumanoidSourceAdapter
• example_deictic_targets_node - Create and publish targets for deixis recognition; source humanoids via semio::ros::HumanoidSourceAdapter

Installation

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Binaries

• Docker
  • docker pull docker.semio.xyz:5000/libsemio-ros
• .deb for Debian Sid:
  • Available in latest release: https://github.com/semio-ai/semio_ros/releases/latest

Source Code

• GitHub repo: https://github.com/semio-ai/semio_ros
  • git clone https://github.com/semio-ai/semio_ros.git && cd semio_ros && git submodule init && git submodule update
• Zip/tarball
  • Available in latest release: https://github.com/semio-ai/semio_ros/releases/latest