Add real world animations for Kuri

[ipekgoktan]

• [x] Create a publisher for the animations
• [x] Implement animations so kuri can react to different events (head pat, bumper)

[tgroechel]

See melodic branch from UWash: https://github.com/hcrlab/kuri/tree/melodic-devel

[tgroechel]

NOTE: the topic name is actually /anim_listener_ because I'm an idiot/forgot to remove the extra _

Have this working on Kuri with the animations-demo from the melodic branch. It seems to blow out the speaker...:

• [x] turn into node that launches with kuri_edu.launch (same as camera)
• [x] (wont fix) figure out audio blow out (seems to happen on some scripts, not sure why, only way to fix I have found so far is hard reset)
• [x] create c# scripts that allows publications to node
• [x] list anim commands here (to be copied somewhere with better docs)

[tgroechel]

Available options (indented are the strings to be passed to /anim_listener rostopic which has type std_msgs/String

DockingSupportAnimations
    docking_complete_asleep
    docking_complete_awake
    docking_complete_happy
    docking_waypoint_reached
    live_undock
    redock
    undock
    undock_from_old_home
CommonAnimations
    attention_look_around_3
    capture_start
    eyes
    greeting_face_no_sound
    greeting_face_sound
    inch
    no
    pan
    pantilt
    reset_head
    sad
    search_user_capture
    smile
    stop
    tap_head_find_face
    tilt
    turn_to
    yes
RomojiAnimations
    happy_birthday
    i_love_you
    lullaby_song
    night_light
DockingLEDAnimations
    docking_back_up
    docking_looking_for_dock
LEDEmotionAnimations
    breath
ObserverModeAnimations
    observer_end
    observer_indicator
    observer_start
IdleAnimations
    look_around_adults
    look_around_common
    look_around_kids_pets
    scripted_idle
OnboardingAnimations
    greeting_first_capture
    search_first_capture
    undock_and_scan
BlinkAnimations
    blink
    double_blink
    triple_blink
ReactionAnimations
    at_attention_look_around
    at_attention_reset
    battery_critical
    battery_low
    bump
    dance_done
    dance_music_detected
    fart
    gotit
    gotit_docked
    head_touch
    head_touch_end
    huh1
    huh1_docked
    huh1_offline
    huh1_offline_docked
    huh2
    listening
    listening_pose
    lost
    old_giggle
    pickup
    putdown
    reset_sad
    sheep
    tickle
    tickle_end
    waypoint_reached
DockingAnimations
    docking_approaching
    docking_back_in
    docking_preparing_to_approach
    docking_preparing_to_back_in
    docking_preparing_to_rotate_180
    docking_reset
    docking_rotate_180
    docking_turn_ccw
    docking_turn_cw
SleepAndWakeAnimations
    twitch_1
    twitch_2
    twitch_3
    twitch_4
    wakeup_auto
    wakeup_fast
SocialAnimations
    face_detected
    face_lost
    reposition
SystemAnimations
    boot_up
    critical_battery
    start_sound
RelocalizeAnimations
    relocalize_part0
    relocalize_part1
    relocalize_part2
    relocalize_part3
    relocalize_part4
    relocalize_part5
    relocalize_part6
    relocalize_part7
    relocalize_part8
TestAnimations
    seizure
    test_eyes
    test_pan
    test_tilt

[tgroechel]

To test, run kuri_edu.launch and you can just do a rostopic publish within the command line like so:

rostopic pub /anim_listener_ std_msgs/String "data: 'gotit'" 

changing out gotit for any of the above messages

[tgroechel]

37 PR