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 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