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pyhri package from pyhri repo

pyhri

Package Summary

Tags No category tags.
Version 0.4.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros4hri/pyhri.git
VCS Type git
VCS Version master
Last Updated 2024-05-03
Dev Status DEVELOPED
CI status
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A Python wrapper library around the ROS4HRI ROS topics

Additional Links

Maintainers

  • Séverin Lemaignan

Authors

  • Séverin Lemaignan

Documentation Status

pyhri: Python wrapper for the ROS4HRI framework

Note: this repository only contains ROS 1 support. For ROS 2, check the libhri repository.

Documentation

API Documentation: https://pyhri.readthedocs.io

Example usage

import rospy
from hri import HRIListener

rospy.init_node("pyhri_test")

hri = HRIListener()

# (start a ROS4HRI-compatible face detector like hri_face_detect)

# access the detected faces:
for id, face in hri.faces.items():
    print("Currently seeing face %s" % id)

# (start a ROS4HRI-compatible person identification pipeline)
# (for instance, hri_face_identification and hri_person_manager)

# access known people:
for id, person in hri.tracked_persons.items():
    print("Person %s is bound to face %s" % (id, person.face.id))


# rospy.spin()


CHANGELOG

Changelog for package pyhri

0.4.1 (2023-07-05)

  • fix voice callbacks test
  • change RoI message type to hri_msgs/NormalizedRegionOfInterest2D
  • Contributors: Luka Juricic

0.4.0 (2023-04-12)

  • {hri->pyhri} This was causing catkin to not find pyhri when included in other projects
  • add callbacks for speech recognition + tests
  • fix AttributeError on first detection
  • use sensor_msgs/RegionOfInterest msg for compatibility with other ROS4HRI repos
  • Contributors: Luca Pozzi, Séverin Lemaignan

0.3.2 (2022-10-25)

  • fix RoI-related message types. Unit-tests pass again.
  • Contributors: Séverin Lemaignan

0.3.1 (2022-10-26)

  • voice: add support for is_speaking
  • ensure known persons get their face/body/voice instances properly updated Fixes #4
  • Contributors: Séverin Lemaignan

0.3.0 (2022-10-22)

  • wire up callbacks for when features appear/disappear
  • body: currently, hri_fullbody (incorrectly) returns a RegionOfInterest for the RoI, instead of a NormalisedRegionOfInterest2D
  • body: skeleton2d now gives direct access to the list of joints coordinates
  • voice: expose last recognised speech + transform
  • use \@property to make the API simpler and safer In particular, to transparently provide copies of the faces, bodies, voices, persons list in HRIListener
  • body: expose skeleton2d, transform, {RegionOfInterest -> NormalizedRegionOfInterest2D} + doc
  • face: {RegionOfInterest -> NormalizedRegionOfInterest2D} + doc
  • Contributors: Séverin Lemaignan

0.2.0 (2022-10-18)

  • autogenerate docs with rosdoc (for display on ROS wiki) and SPHINX
  • More api documentation
  • adjust code base for ReadTheDocs doc generation In particular:
    • add a requirements.txt file for catkin
    • allows importing pyhri without rospy
  • Face.transform|Face.gaze_transform can change their reference frame
  • removed dep on numpy.typing as it is not widely available yet
  • mark features as invalid once they disappear
  • returns copy of persons to avoid modifying dictionary while iterating While here, add infrastrcutre to check whether a face/body/voice/person is still valid
  • expose the tf transform of the face and gaze
  • add BSD license file
  • [test] further tuning of tests' waiting behaviours for #1
  • Contributors: Séverin Lemaignan

0.1.3 (2022-07-13)

  • refining waiting + closing in tests -- they all pass reliably on my machine
  • unregister from main topics when closing HRIListener
  • Contributors: Séverin Lemaignan

0.1.2 (2022-07-12)

  • [cmake] add test only behing CATKIN_ENABLE_TESTING
  • Contributors: Séverin Lemaignan

0.1.1 (2022-07-06)

  • various fixes after first test with actual ROS4HRI messages
  • Contributors: Séverin Lemaignan

0.1.0 (2022-07-06)

  • initial implementation, closely following the libhri C++ API
  • all unit-tests pass (modulo random timing/waiting issues)
  • add basic README
  • Contributors: Séverin Lemaignan

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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