ROS Simple Face

A robot face pkg for ROS1 noetic.

What is this?

This is a simple robot face animation implementation for ROS1, which renders a robot face with OpenGL and Shader.

You can conrtol the eye and mouth movement simply through ros message. It also supports gtts and synchronize the mouth.

Requirments

The package is currently developed with:

Python  3.7.1
gtts    2.3.1
numpy   1.21.5
openCV  3.4.2
pyaudio 0.2.11
pydub   0.25.1

Also, make sure you have the OpenGL library.

apt-get install build-essential
apt-get install libgl1-mesa-dev libglu1-mesa-dev freeglut3-dev

Or, if you installed ROS in Conda and build workspace with that Conda env.

conda install -c conda-forge mesa-libgl-cos7-x86_64 libglu freeglut

Installation

cd {your catkin_ws}/src
git clone https://github.com/keroroxzz/speaking_face.git
cd ..
catkin_make

Startup

roslaunch speaking_face face.launch full_screen:=True

Press Esc to shutdown the GUI.

Press Space to activate/deactivate fullscreen.

ROS Specific

Param

full_screen
sample_rate

Publish

# speaking.py
/speaking_face/status
/speaking_face/heading_config
/speaking_face/face_config
/speaking_face/face_param
/speaking_face/mouse_touch

Subscribe

# face
/speaking_face/heading_config
/speaking_face/face_config
/speaking_face/face_param

# speaking.py
/speaking_face/text
/camera
/depth