Description

Gizmo Brain provides most of the high level autonomous behavior for Kuri, and provides most of the APIs used by the Kuri app.

Dependencies

• assets
• audio_realtime
• audio_voice_delegate
• may_nav_ros
• mobile_base
• ros_beat
• vision_bridge

Subscribed Topics

/command

gizmo_msgs/Command

The primary interface for commanding behavior from kuri. Each command is a string name and an optional list of key/value parameters. When a command is received by the robot, it will be republished on the /command/cmd_ack topic

• dock: Kuri will autonomously navigate back to its dock and move onto the charger
• undock: Kuri will wake-up, drive off the dock, and look left and right before beginning autonomous behavior
• force_idle: Break Kuri out of any autonomous behavior (photo-shoot, wander) and force a transition into the ‘idle’ state.
• capture: Performs the Kuri ‘first moment capture’. Kuri will look up, wait to see a face, then count down with the chest light and take a five second capture
• wander: Kuri will start to wander
• override_mode: Takes a key of “override” and a value of “on” or “off”. If the value is “on”, and Kuri has an active data channel connection (through kuri-bridge or the app) then Kuri will enter Kuri Live mode and drive if sent Twist messages.
• sleep: Forces Kuri to go to sleep
• stop: Stops music and goes to idle
• bluetooth_connect_and_pair: Causes Kuri to enter Bluetooth pairing mode and connect to any remembered device
• bluetooth_pair_new: Causes Kuri to enter Bluetooth pairing mode without connecting
• bluetooth_disconnect: Disconnects the current bluetooth device
• play: Takes a paramter with key “uri” and the value is interpreted as a local or remote source that’s passed to the Linux mplayer command

/client_interface/navigation/waypoint

gizmo_msgs.msg.ClientWaypoint

Publish a waypoint UUID on this topic to have Kuri autonomously navigate to that waypoint

Published Topics

/command/cmd_ack

gizmo_msgs/Command

Republishes commands received on the /command topic. This provides very weak synchronization guarantees on the robot. For example, commands handled by the state machine may be echoed on this topic before the internal state of the robot is updated. This topic should probably only be used to verify that Kuri has received a command, and not for any other synchronization purposes.

Services

/image_wp_server/load

image_wp_msgs/Load

Returns a list of waypoints that Kuri knows about

/image_wp_server/add

image_wp_msgs/Add

Saves the current location as a waypoint with the specified name

/image_wp_server/rename

image_wp_msgs/Rename

Renames the waypoint with UUID uuid to have the name new_name

/image_wp_server/remove

image_wp_msgs/Remove

Deletes the waypoint with the UUID uuid

/command/query

mayfield_msgs/StringExchange

If passed “robot_api” as the input string, returns a JSON dictionary with rules state.

Launch File

gizmo_brain.launch