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App Summary

PocketBot for Ros is an Android application and ROS node. It provides both controls for a ROS enabled robot and social interactions. In addition the app uses WebRTC for telepresence.

http://pocketbot.io

Installation

• From the Play Store

This app has been tested with ROS indigo, kinetic and lunar. On Ubuntu 14.04, 16.04, 17.04 and HypriotOS on the Rapberry Pi 3.

ROS API

pocketbot_ABCD

The node name is randomly generated so that multiple PocketBots may connect at the same time.

Published Topics

pocketbot/emotion (std_msgs/String)

• Emotional state of the robot. (JOY, ACCEPTED, AWARE, ANGER, SADNESS, REJECTED, SURPRISED, FEAR)

pocketbot/speech (std_msgs/String)

• When the PocketBot app recognizes speech it is output on this topic as a String the app normally send this to the AI service

pocketbot/ai_speech_out (std_msgs/String)

• AI services response, the app will normally speak this text when in face mode

pocketbot/imu (sensor_msgs/Imu)

• The current orientation of the Android device

pocketbot/face (geometry_msgs/Twist)

• Position of foremost recognized face

pocketbot/cmd_vel (geometry_msgs/Twist)

• Output from onscreen joysticks in PocketBot app's control screen. Right joystick outputs linear x and angular z. Left joystick outputs angular y and angular x.

pocketbot/fix (sensor_msgs/NavSatFix)

• Current position of robot in latitude and longitude as measured by Android device, position_covariance[0] is the accuracy in meters

pocketbot/waypoint (sensor_msgs/NavSatFix)

• Updated when a new way point is added using PocketBot's navigation interface

pocketbot/heading (std_msgs/Float32)

• Heading in degrees 0-360 of direction device is facing (front camera)