Social Worlds

This is a ROS package that contains a set of gazebo worlds, plugins and nodes.

This sets provides environments for a robot to learn social behaviors.

Dependencies:

• gazebo (9.0.0)
• ROS (Melodic Morenia)

Models:

The models used in this package was developed by the author or imported from 3D Gazebo Models and OSRF Gazebo Models.

MSG and SRV:

• Region.msg: Used to store a region representation with the region name and a set of points inside the region.

  string name
  geometry_msgs/Point[] points

• ActorTrajectory.srv: Used to request a actor to follow a determined pathway.

  std_msgs/String animation
  geometry_msgs/Pose[] waypoints
  ---

• Regions.srv: Used to request the set o regions available in a world.

  ---
  social_worlds/Region[] regions

Nodes:

• check_collision_node: Node used to check if a model is in collision.
• check_region_node: Node used to check if a region is occupied by a model.
• real_time_factor_publisher_node: Node used to publish the gazebo real_time_factor on ROS ecosystem.

plugins:

• region: Define regions in the world and provide a service to get points in this regions.

  • ex.:

    <plugin name="path" filename="lib_regions.so">
      <region name="start">
        <layer>1</layer>
        <color>Green</color>
        <area>-6.75 0 1.5 4</area>
      </region>
      <region name="goal">
        <layer>2</layer>
        <color>Blue</color>
        <area>6.75 0 1.5 4</area>
      </region>
    </plugin>
  

  • Service provided:
    • topic: /regions/<plugin name>
    • srv: social_worlds/Region.srv

• actor_control: Used to control a actor by geometry_msgs/Twist interface.

  • ex.:

    <plugin name="actor_control" filename="libactor_control.so"/>
  

  • You can control the actor using teleop_twist_keyboard:

    rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/<plugin name>/cmd_vel
  

• link_actor_to_model: Used to link an actor to a model, so when the actor moves, the model moves as well.

  • ex.:

  <plugin name="link_human_1" filename="lib_link_actor_to_model.so">
    <actor>human_actor_1</actor>
    <model>human_model_1</model>
  </plugin>
  

• objects_publisher: Publish a set o objects position with a ROS topic.

  • ex.:

  <plugin name="objects" filename="lib_objects_publisher.so">
    <model>box_1</model>
    <model>table_1</model>
    <model>picture_frame</model>
    <model>box_small_1</model>
    <model>box_small_2</model>
    <model>box_small_3</model>
    <model>box_3</model>
    <model>box_4</model>
  </plugin>
  

  • publisher provided:
    • topic: /<plugin name>
    • msg: object_recognition_msgs/RecognizedObjectArray.msg

• people_publisher: Publish a set o persons position with a ROS topic.

  • ex.:

  <plugin name="people" filename="lib_people_publisher.so">
    <model>human_actor_1</model>
    <model>human_actor_2</model>
    <model>human_actor_3</model>
    <model>human_actor_4</model>
  </plugin>
  

  • publisher provided:
    • topic: /<plugin name>
    • msg: people_msgs/People.msg

worlds:

<style type="text/css" media="screen"> .crop img { object-fit: cover; width: 150px; height: 250px; } </style>

• simple_room

A simple room with start(green) and goal(blue) regions used for navigation purpose.

• simple_room__boxes

A simple room with 6 boxes as obstacles.

• simple_room__narrow_corridors

A simple room with 12 boxes forming narrow corridors.

• simple_room__tables

A simple room with 6 tables (hard to see by a laser).

• simple_room__boxes_small

A simple room with 6 sets with 3 small boxes (10cm height, hard to see by a laser).

• simple_room__mix_1

A simple room with a mix of boxes, tables, narrow corridor and small boxes.

• simple_room__static_people

A simple room with 6 static persons.

• simple_room__dynamic_people

A simple room with 4 dynamic persons.

• simple_room__mix_2

A simple room with 3 static persons and 2 dynamic persons.

• simple_room__interaction_object

A simple room with 4 static persons looking to a object (picture) in the wall and forbidden(red) regions used for navigation purpose.

• simple_room__interaction_people

A simple room with 4 pairs of static persons looking to each others and forbidden(red) regions used for navigation purpose..

• simple_room__mix_3

A simple room.

• robocup_2019

A representation of the 2019 RoboCup@home arena.

• robocup_2019__receptionist

A representation of the 2019 RoboCup@home arena with objects and people used in the receptionist task.

• fei_k5

A representation of test environment located at FEI University Center.

• fei_k5__marathon

A representation of test environment located at FEI University Center and used for a robot marathon.

How to use this package:

Launch files used to start the package functionalities.

  |-- launch
    |--start_world.launch
    |--check_regions_test.launch
    |--real_time_factor_publisher_test.launch

• start_world: Used to start a world in the package. Parameters:

  • world_name: (string, default: empty) - World name.
  • enable_gui: (bool, default: true) - Use or not the gazebo GUI (gzclient).
  • paused: (bool, default: false) - Start simulation paused or not. Ex.:

    roslaunch social_worlds start_world.launch world_name:=robocup_2019__receptionist
  

• check_regions_test: Used to test check_region_node:

  • world_name: (string, default: simple_room) - World name.
  • region_name: (string, default: path) - Region to be checked. Ex.:

    roslaunch social_worlds check_region_test.launch world_name:=simple_room region_name:=path
    rostopic echo /check_path
  

• real_time_factor_publisher_test: Used to test the real_time_factor publisher.

  • world_name: (string, default: simple_room) - World name. Ex.:

    roslaunch social_worlds real_time_factor_publisher_test.launch
    rostopic echo /real_time_factor