ROS4HRI helper library

A wrapper library for the ROS4HRI framework, significantly easing accessing the robot's perceptions of surrounding humans.

It contains two packages:

• hri: the C++ implementation package
• pyhri: the Python implementation package, wrapping the C++ one with Pybind11

Note: this branch only contains ROS 2 support. For ROS 1, check the main branch. Note: this repository only contains pyhri ROS 2 support. For ROS 1, check the pyhri repository.

Documentation

For the pyhri documentation, first import hri, then use help(hri.<class>).

The main entry point for using the library is the HRIListener class.

Example

For an example of usage, you can check the example:

• C++: hri/src/example.cpp or
• Python: pyhri/hri/example.py

They are installed by default and can be tested by executing:

• In a separate terminal:
  1. apt install ros-humble-usb-cam
  2. ros2 run usb_cam usb_cam_node_exe
• In a separate terminal:
  1. install hri-face-detect
  2. ros2 launch hri_face_detect face_detect.launch.py
• In a separate terminal, either:
  • C++: ros2 run hri hri_example or
  • Python: ros2 run hri pyhri_example

Note that the Python implementation actually spawns two nodes.