BasicAwareness¶

Aim¶

Thanks to BasicAwareness the robot:

• seems aware of his surroundings,
• is capable of detecting humans around him,
• is able, autonomously and proactively, to look at humans around him.

Effect¶

• Waiting for stimuli

  Reacts to stimuli such as:

  • touches on bumpers,
  • touches on hands, or
  • human detection.

  Looks in the direction of the stimulus with his head and body.

  Comes back to a neutral position if he found nobody, tracks the person otherwise.

• Tracking detected human

  Follows the engaged person with his head and body.

When¶

• As soon as the robot perceives a stimulus,
• When the robot is tracking the engaged human

Performance¶

For optimal detection and tracking, it is recommended to run a LocalizeAndMap to map the environment, and then a Localize to keep the robot localized inside his environment. Using his map, Pepper has an (almost) 360° awareness, using his base sensors.

See also¶

• API doc AutonomousAbility.
• API doc AutonomousAbilityHolder.