Code Annex of Sweet Robot O’Mine

This repository contains the code developed for replicating the experiment described in the paper "Sweet Robot O’Mine - How a Cheerful Robot Boosts Users' Performance in a Game Scenario".

The submodules hri_msgs, pal_msgs and play_motion are required for building the project and frozen to a specific commit.

The core of the codebase is contained in the four packages:

1. quiz
2. picovoice_ros
3. robot_behavior
4. keyboard_quiz

The collected data is stored in the results folder.

Install

mkdir ~/ros_ws
cd ~/ros_ws

Clone the repo as source folder

git clone [email protected]:Prisca-Lab/robot_quiz.git src
git submodule update --init --recursive

Build and source

cd ~/ros_ws
catkin build
source devel/setup.sh

Prepare the robot

Kill the alive movements from ari-19c:8080 The nodes to be paused are:

• interaction_profile_manager
• head_manager
• pal_chrome

or kill from the terminal

rosnode kill /interaction_profile_manager 
rosnode kill /head_manager
rosnode kill /pal_chrome

Let's start the quiz

Launch the quiz: roslaunch quiz run.launch is using the microphone for intent recognition

Both launch files require arguments user_id and condition. The arguments can also be accessed from the ros param server.

Standard Mode

In this mode, the user input is expected to be received via the microphone with _device:=-1 (check the audio device with arecord -l)

The parameter for selecting the audio device is found in quiz/launch/run.launch:L14

roslaunch quiz run.launch user_id:=1 condition:=2

The conditions are following:

1. ANTAGONIST
2. AGREEABLENESS

If a bag is already recorded containing data from the user, an error is raised and returned to user.

State Machine of the interaction

For testing the logic, use the keyboard mode.

Keyboard Mode

roslaunch quiz run_keyboard.launch user_id:=1 condition:=2