dance

dance

This folder contains the node to make T-Top dance.

Nodes

head_dance_node.py

This node makes T-Top head dance on the beat. The moves are randomly chosen.

Parameters

• movement_file (string): The JSON file path containing the movements.

Subscribed Topics

• bpm (std_msgs/Float32): The bpm topic from the beat_detector_node.
• beat (std_msgs/Bool): The beat topic from the beat_detector_node.

Published Topics

• dance/set_head_pose (geometry_msgs/PoseStamped): The head pose.

Services

• pose/filter_state (hbba_lite_srvs/SetOnOffFilterState): The HBBA filter state service to enable or disable the behavior.

torso_dance_node.py

This node makes T-Top torso dance on the beat. The moves are randomly chosen.

Parameters

• movement_file (string): The JSON file path containing the movements.

Subscribed Topics

• bpm (std_msgs/Float32): The bpm topic from the beat_detector_node.
• beat (std_msgs/Bool): The beat topic from the beat_detector_node.
• daemon/motor_status (daemon_ros_client/MotorStatus): The motor status to get torso orientation.

Published Topics

• dance/set_torso_orientation (std_msgs/Float32): The torso orientation.

Services

• pose/filter_state (hbba_lite_srvs/SetOnOffFilterState): The HBBA filter state service to enable or disable the behavior.

led_dance_node.py

This node makes T-Top torso dance on the beat. The moves are randomly chosen.

Parameters

• led_colors_file (string): The JSON file path containing the LED patterns.

Subscribed Topics

• beat (std_msgs/Bool): The beat topic from the beat_detector_node.

Published Topics

• dance/set_led_colors (daemon_ros_client/LedColors): The LED colors.

Services

• set_led_colors/filter_state (hbba_lite_srvs/SetOnOffFilterState): The HBBA filter state service to enable or disable the behavior.