Real-time HRSI Situation Classifier

A ROS kinetic package for realtime situation classification in human-robot spatial interaction. Part of the ILIAD warehouse robot software stack.

Setup

Requires ROS kinetic, Ubuntu 16.04, and python3.5

Install the required apt packages:

sudo apt install cython3 ros-kinetic-strands-qsr-lib python3-numpy python3-pandas python3-scipy

Install the required pip packages: python3.5 -m pip install roslibpy hmms

If hmms from pypi fails to install, install from the GitHub repo:

git clone https://github.com/lopatovsky/HMMs.git
cd HMMs
pip install -e .

Finally, clone this repository into the src directory of your catkin workspace and call catkin build realtime_hrsi_situation_classifier.

Usage

Run the real-time classifier and its associated nodes using the provided launch file: roslaunch realtime_hrsi_situation_classifier realtime_sit_classifier.launch

If necessary, set the appropriate robot ID with the robot_id argument ( default value is 5), e.g. roslaunch realtime_hrsi_situation_classifier realtime_sit_classifier.launch robot_id:=4