This repository contains the code developed for replicating the experiment described in the paper "Sweet Robot O’Mine - How a Cheerful Robot Boosts Users' Performance in a Game Scenario".

The submodules hri_msgs, pal_msgs and play_motion are required for building the project and frozen to a specific commit.

The core of the codebase is contained in the four packages:

1. quiz
2. picovoice_ros
3. robot_behavior
4. keyboard_quiz

The collected data is stored in the results folder.

mkdir ~/ros_ws
cd ~/ros_ws

Clone the repo as source folder

git clone git@github.com:Prisca-Lab/robot_quiz.git src
git submodule update --init --recursive

Build and source

cd ~/ros_ws
catkin build
source devel/setup.sh

Kill the alive movements from ari-19c:8080 The nodes to be paused are:

• interaction_profile_manager
• head_manager
• pal_chrome

or kill from the terminal

rosnode kill /interaction_profile_manager 
rosnode kill /head_manager
rosnode kill /pal_chrome

Launch the quiz: roslaunch quiz run.launch is using the microphone for intent recognition

Both launch files require arguments user_id and condition. The arguments can also be accessed from the ros param server.

In this mode, the user input is expected to be received via the microphone with _device:=-1 (check the audio device with arecord -l)

The parameter for selecting the audio device is found in quiz/launch/run.launch:L14

roslaunch quiz run.launch user_id:=1 condition:=2

The conditions are following:

1. ANTAGONIST
2. AGREEABLENESS

If a bag is already recorded containing data from the user, an error is raised and returned to user.

For testing the logic, use the keyboard mode.

roslaunch quiz run_keyboard.launch user_id:=1 condition:=2