Custom ROS Messages for the RoSA project
If you found the code useful, you can cite the corresponding paper:
Citation (bibtex) @article{Strazdas_2022, doi = {10.3390/s22030923}, url = {https://doi.org/10.3390%2Fs22030923}, year = 2022, month = {jan}, publisher = {{MDPI} {AG}}, volume = {22}, number = {3}, pages = {923}, author = {Dominykas Strazdas and Jan Hintz and Aly Khalifa and Ahmed A. Abdelrahman and Thorsten Hempel and Ayoub Kassim Al-Hamadi}, title = {Robot System Assistant ({RoSA}): Towards Intuitive Multi-Modal and Multi-Device Human-Robot Interaction}, journal = {Sensors} }
MDPI and ACS Style
Strazdas, D.; Hintz, J.; Khalifa, A.; Abdelrahman, A.A.; Hempel, T.; Al-Hamadi, A.K. Robot System Assistant (RoSA): Towards Intuitive Multi-Modal and Multi-Device Human-Robot Interaction. Sensors 2022, 22, 923. https://doi.org/10.3390/s22030923 AMA Style
Strazdas D, Hintz J, Khalifa A, Abdelrahman AA, Hempel T, Al-Hamadi AK. Robot System Assistant (RoSA): Towards Intuitive Multi-Modal and Multi-Device Human-Robot Interaction. Sensors. 2022; 22(3):923. https://doi.org/10.3390/s22030923 Chicago/Turabian Style
Strazdas, Dominykas, Jan Hintz, Aly Khalifa, Ahmed A. Abdelrahman, Thorsten Hempel, and Ayoub K. Al-Hamadi. 2022. "Robot System Assistant (RoSA): Towards Intuitive Multi-Modal and Multi-Device Human-Robot Interaction" Sensors 22, no. 3: 923. https://doi.org/10.3390/s22030923
Custom ROS Messages for the RoSA project
FacialData.msg
Contains information about the detected face
face sensor_msgs/CompressedImage --> Detected face
camID int8
user int8 --> User Id
user_name string --> User name
user_score float64 --> Detection score
emoji string --> Recognized facial emotion
emoji_score float64 --> Recognized facial emotion score
xmin int64 --> Face boundary box top-left point (xmin, ymin) wrt original frame
ymin int64
xmax int64 --> Face boundary box bottom-right point (xmax, ymax) wrt original frame
ymax int64
cx float64 --> Face boundary box center point (cx, cy)
cy float64
roll float64 --> Estimated head pose roll angle
pitch float64 --> Estimated head pose pitch angle
yaw float64 --> Estimated head pose yaw angle
left_hand bool
FacialHeader.msg
Contains information about the current frame
framesensor_msgs/Compressed Image --> Current frame
ids int8[] --> Detected ids in Image
facialData FacialData[] --> Array of facialData, size = no of ids
Cube.msg:
letters string
color string
x float
y float
layer int
ProjectionObject.msg
Joint.msg
Contains Kinect v2 Joint: JointType, X,Y,Z as float
JointType:
SpineBase = 0,
SpineMid = 1,
Neck = 2,
Head = 3,
ShoulderLeft = 4,
ElbowLeft = 5,
WristLeft = 6,
HandLeft = 7,
ShoulderRight = 8,
ElbowRight = 9,
WristRight = 10,
HandRight = 11,
HipLeft = 12,
KneeLeft = 13,
AnkleLeft = 14,
FootLeft = 15,
HipRight = 16,
KneeRight = 17,
AnkleRight = 18,
FootRight = 19,
SpineShoulder = 20,
HandTipLeft = 21,
ThumbLeft = 22,
HandTipRight = 23,
ThumbRight = 24
Body.msg
Contains Kinect v2 Joints as Joint[], IsTracked as bool?
KinectBodies.msg
Contains Kinect v2 Bodies as Body[]
cd ~/catkin_ws/src
git clone https://github.com/DoStraTech/rosa_msgs.git
cd ..
catkin_make
source devel/setup.bash
rosmsg package rosa_msgs