Skip to end of metadata
Go to start of metadata

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 NameDataData TypeValue RangeDescription
ledColor.msgcolorstd_msgs::Stringred, green, light green, blue, dark blue, turquoise, yellow, violet, white, stopHandles the color of the led
reetiPose.msgneckRotat

neckPan

neckTilt

rightLC

leftLC

topLip

bottomLip

rightEyePan

rightEyeTilt

leftEyePan

leftEyeTilt

rightEyeLid

leftEyeLid

rightEar

leftEar

std_msgs::Float32from 0 to 100

Handles the 15 positions of the motors.

 

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



    • Service types :

 

NameDataMsg TypeValue RangeDescription
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.srvspeechstd_msgs::Stringsome textHandles 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.srvsequencestd_msgs::Stringa sequence or pose file nameHandles 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 :
      NameMsg TypeFrequencyDescription
      Positionreetiros::reetiPoseon change saturated at 10HzPublish the Position of the 15 motors
      ledColorreetiros::ledColoron changePublish the color of the leds
      isSpeakingstd_msgs::Boolon changePublish if the Reeti is Speaking or not
      BookMarkstd_msgs::Stringon bookmark foundPublish when a bookmark is found in a text sent to the Reeti
      isPlayingstd_msgs::Boolon changePublish if the Reeti is playing a sequence or not
    • Subscribed Topics :
      NameMsg TypeDescription
      neckRotat

      neckPan

      neckTilt

      rightLC

      leftLC

      topLip

      bottomLip

      rightEyePan

      rightEyeTilt

      leftEyePan

      leftEyeTilt

      rightEyeLid

      leftEyeLid

      rightEar

      leftEar

      std_msgs::Float32Change the position of the choosen motor      
      leftLed, rightLedreetiros::ledColorSet the color of the chosen led
      leftLedRGB, rightLedRGBstd_msgs::ColorRGBASet the color of the chosen led to the RGB value sent

Services :

NameSrv TypeDescription
SetPosereetiros::PoseSets the 15 motors position at once
TakePicturereetiros::CameraTake a picture with the Reeti's camera and save it to the "/home/reeti/Pictures" folder
RecordVideoreetiros::CameraRecord a video with the Reeti's camera and save it to the "/home/reeti/Videos" folder
StopRecordreetiros::CameraStop the recording of a video
Sayreetiros::SpeechSay the text without moving the Reeti's lips
SayWithSynchroreetiros::SpeechSay the text while moving the Reeti's lips
StopSpeechstd_srvs::EmptyStop Reeti while he is talking
PlaySequencereetiros::SequencePlay a sequence file
PlayPosereetiros::SequencePlay 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.

  • No labels