Reeti Ros Node

Node's Description

The Reeti Ros Node allows you to use ROS as an alternative to the URBI Sdk.

The Node makes it easier to interact with the REETI and get information back from it.

Before using the node you need to source the reetiros directory : /reetiPrograms/ros/setup.bash

Services and Data

Description of the differents data types, topics and services provided by the Reeti Ros Node.

Messages and Services Types:

- Messages types:

Msg Name

Data

Data Type

Value Range

Description

ledColor.msg

color

std_msgs::String

red, green, light green, blue, dark blue, turquoise, yellow, violet, white, stop

Handles the color of the led

reetiPose.msg

neckRotat

neckPan

neckTilt

rightLC

leftLC

topLip

bottomLip

rightEyePan

rightEyeTilt

leftEyePan

leftEyeTilt

rightEyeLid

leftEyeLid

rightEar

leftEar

std_msgs::Float32

from 0 to 100

Handles the 15 positions of the motors.

Note : rightLC and leftLC means right lips corner and left lips corner.

- Service types :

Name	Data	Msg Type	Value Range	Description
Camera.srv	camera filename	std_msgs::Int32 std_msgs::String	0 left camera , 1 right camera filename without extension	Handles the camera to use and the destination files names
Pose.srv	pose speed	reetiPose std_msgs::Float32	See reetiPose.msg from 10 to 300	Handles the positions and the speed sent to the Reeti to make him move. Speed unit is percent of total course per second. (300 means that the total course will be travelled in 1/3 of one second).
Say.srv	speech	std_msgs::String	some text	Handles the text sent to Reeti to make him speak. See Loquendo TTS controls.pdf and 13-Loquendo TTS Controls.pdf to get more informations about speech synthesis with Reeti.
Sequence.srv	sequence	std_msgs::String	a sequence or pose file name	Handles the name of the sequence or pose file that the Reeti will play

You can find more information about the message or service types here : Data Types Files, or by typing rosmsg show reetiros/<message_name> and rossrv show reetiros/<service_name>.

Topics:

Published Topics :

Name	Msg Type	Frequency	Description
Position	reetiros::reetiPose	on change saturated at 10Hz	Publish the Position of the 15 motors
ledColor	reetiros::ledColor	on change	Publish the color of the leds
isSpeaking	std_msgs::Bool	on change	Publish if the Reeti is Speaking or not
BookMark	std_msgs::String	on bookmark found	Publish when a bookmark is found in a text sent to the Reeti
isPlaying	std_msgs::Bool	on change	Publish if the Reeti is playing a sequence or not

Subscribed Topics :

Name

Msg Type

Description

neckRotat

neckPan

neckTilt

rightLC

leftLC

topLip

bottomLip

rightEyePan

rightEyeTilt

leftEyePan

leftEyeTilt

rightEyeLid

leftEyeLid

rightEar

leftEar

std_msgs::Float32

Change the position of the choosen motor

leftLed, rightLed

reetiros::ledColor

Set the color of the chosen led

leftLedRGB, rightLedRGB

std_msgs::ColorRGBA

Set the color of the chosen led to the RGB value sent

Services :

Name	Srv Type	Description
SetPose	reetiros::Pose	Sets the 15 motors position at once
TakePicture	reetiros::Camera	Take a picture with the Reeti's camera and save it to the "/home/reeti/Pictures" folder
RecordVideo	reetiros::Camera	Record a video with the Reeti's camera and save it to the "/home/reeti/Videos" folder
StopRecord	reetiros::Camera	Stop the recording of a video
Say	reetiros::Speech	Say the text without moving the Reeti's lips
SayWithSynchro	reetiros::Speech	Say the text while moving the Reeti's lips
StopSpeech	std_srvs::Empty	Stop Reeti while he is talking
PlaySequence	reetiros::Sequence	Play a sequence file
PlayPose	reetiros::Sequence	Play a pose file

How to use the Node?

The Reeti Ros node is launched at the start-up of the REETI.

In order to use this Node you need to create your ROS own node, or using the common ROS topic debug tools (Rqt as an example).

To be able to use the reetiros msg and srv in your ROS node, you need to modify the "CMakeLists.txt" and "package.xml" files.

In the CMakeLists.txt file add : "reetiros" to the "CATKIN_DEPENDS" line in the "catkin_package" section.

In the package.xml file add the following before the "export" tag:

  <build_depend>reetiros</build_depend>
  <run_depend>reetiros</run_depend>

See the Samples in order to get more information about using the Reeti Ros Node.

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