Q-Bot is self-navigating humanoid robot to be used for conducting questionnaires in hospitals and research projects.

Here lies the ROS project, built by Sze Tan, Hanyi Hu, Daniil Tarakanov, Alxandre Benoit and Guang Yang, as a part of a Human-Centred Robotics course at Imperial College London.

• Make sure it doesn't repeat too many times if it cannot obtain an appropriate response
• Use Animated Speech
• Make face tracking more robust
• Don't make QBot stand up (because of stability issues)
• Ears lighting + more obvious que for when QBot is listening (i.e. a Siri chime)
• Evaluation

~/opt/extra_ws/src/nao_puppet

~/catkin_ws/src/qbot

~/catkin_ws/src/nlp

cd ~/catkin_ws
catkin_make

source ~/catkin_ws/devel/setup.bash
roslaunch ~/catkin_ws/src/qbot/launch/qbot.launch

OR

roslaunch qbot qbot.launch

This can be also be used to launch any other package. Simply replace qbot by the package name.

source /opt/extra_ws/devel/setup.bash
roslaunch /opt/extra_ws/src/nao_puppet/launch/nao_puppet.launch

Launch Choregraphe

choregraphe

Note the port number from the terminal. In moveNao/nodes/naomotion_node.py change port number on line 37 to the new number. Also change the port number in ~/catkin_ws/src/movenao/launch/movenao.launch In a new terminal:

catkin_make
source ~/catkin_ws/devel/setup.bash
roslaunch ~/catkin_ws/src/movenao/launch/movenao.launch

1. Build
2. Launch Q-Bot (Or any other package that you want to test)
3. In the terminal do:

~/scripts/testcnc.sh # Demo CNC node

Replace "cnc" by your desired node name.

0: Just woke up; RESET state
1: Activated; ready to work
10: Navigating
11: Reached the patient
20: Able to start question
21: Conducting questionnaire
22: Finished

100: Emergency Abort State
203: Taking a break
204: Contacting Nurse

0: Here’s your answer
1: Got gibberish, please ask again
2: Wasn’t expecting an answer, and got gibberish
3: Request for a break
4: Request for a nurse

['Crouch', 'LyingBack', 'LyingBelly', 'Sit', 'SitOnChair', 'SitRelax', 'Stand', 'StandInit', 'StandZero']

MIT