migrave_person_state_estimation

Repository for a person state estimation component used in the MigrAVE project.

Requirements:

xgboost == 1.5.0
sklearn == 0.24.2
joblib == 1.0.1

Package dependencies

Person state estimation requires migrave_face_feature_detector which computes face features using openface.

roslaunch migrave_face_feature_detector face_feature_detector.launch

Usage

• Launch the node:

  roslaunch migrave_person_state_estimation person_state_estimation.launch
  

• Start engagement estimation by sending an event to the following topic:

  rostopic pub /migrave_perception/person_state_estimator/event_in std_msgs/String e_start
  

• Stop engagement estimation

  rostopic pub /migrave_perception/person_state_estimator/event_in std_msgs/String e_stop
  

• Outputs The node publishes AffectiveState message to the following topic:

  /migrave_perception/person_state_estimator/affective_state