• do not be shy to make suggestions/amendments/change, even on someone's else content! Being 'unsure' is not an issue at this stage: this is a private, 'socially safe' workspace, where we want to brainstorm.
• please write using an 'assertive' tone, even though we might change things later on. This will make it easier to reuse the content in the final Working Group document.
• however, when a discussion is needed:
  • use :speech_balloon: 💬 to draw attention to something you'd like to discuss
  • use > block quote to make comments
• when needed (eg, votes), you can indicate support/lack of support for a proposal with :+1: 👍 or :-1: 👎

The high-level description of the goals and design rationale is exposed in the ROS for HRI Enhancement Proposal (REP). The work-in-progress document can be found here.

In short: for each of the sub-domains listed hereafter, we essentially want to come up with:

1. adequate messages to describe the data relevant to that domain. These messages are found in the hri_msgs repository.
2. a short list of software modules that provide and/or consume this data
3. where needed, ROS wrappers for these modules

On top of that, some shared messages/tools need to be agreed & created, namely:

1. a naming convention for HRI-related frames (in particular, for the human body)
2. visualisation tools for HRI
3. possibly, a definition of a social context type to more accurately describe interaction-related datatypes

Humans are associated to an unique identifier (UUID), that a robot might attempt to persist across sessions (to be able to recognise previously seen people) or might want to forget (when there is no need/no desire to remember human participants).

This persistent identifier is completed by transient face IDs and body IDs.

The interactions and semantics of these IDs are described in details on the Human representation page.

The reference pipeline to detect and recognise humans is described on the human detection/recognition/identification pipeline page.

The work is split by sub-domains:

1. Physical HRI (including haptics, fatigue)
2. Teleoperation
3. Human postures, gestures, action recognition
4. Speech, Dialogue, Non-verbal communication
5. Face analysis and in particular, Emotions and Gaze & Attention