# PEV_HMI

### 0. Hardware rule
1. cd ~/pev_ws/src/pev/pev_hardware_rule/XXX(依照車體版本ntut/mit/nichinan)
2. 若需更改pev-devices.rules 自行修改
3. ./setRule.sh

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### 1. Eye-contact
#### 1-1. Pose detection

roscore
roscd pev_dsm
cd scripts
python gesture_cam_sockio_server.py 
cd ~/pev_ws/src/HMI_pose_dsm_eye_control/posenet
yarn run dev

##### check:
0. 瀏覽器會開啟posenet,選擇欲使用的相機
1. 確認小藍人與鏡頭前人物重疊＆舉手過肩
2. rostopic echo /gs_cam_raised_hands_center

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#### 1-2. Eye contact

roslaunch pev_sensors eye_contact_ntut.launch

#### check:
1. 確認U2D2 (dynamixel AX-12控制器)連接

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### 2. Led control

roscd pev_sensors
cd sensors
roslaunch pev_sensors arduino_led.launch.xml

#### check:
1. 確認Arduino& mega shield連接
2. 測試燈光模式轉換

rostopic publish 10 /

3. 眼睛顏色測試

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### Led_state (std_msgs::ColorRGBA, A=led_state)

| led_state | Ring |
| -------- | -------- |
| 1 | fillAll |
| 2 | colortWipe |
| 3 | colorBlink |
| 4 | snakeScroll |
| 5 | breathAll |
| 6 | rainbow |
| 7 | leftTurn |
| 8 | rightTurn |
| 9 | monoChase |
| 10 | doubleChase |
| 11 | segmentBlink |
| 12 | colortWipeBlinkLeft |
| 13 | colortWipeBlinkRight |

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## 以下舊版demo(請省略)

### 3. Sound indication
==Disable wifi connection and enable wire connection==
1. roscd pev_sensors/launch/sensors/
2. roslaunch pev_sensors velodyne_VLP16.launch.xml
3. roslaunch pev_eye_interface bill.launch

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### 4. Open point cloud on Rviz
1. rviz
2. add by topic "velodyne/point_cloud"
3. fixed frame "velodyne_link"
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### System structure