cs4home_hri_challenge

HRI Challenge cognitive module for the CoreSense4Home (RoboCup @Home) stack. It orchestrates the greeting of a person at the entrance of the house, inviting them inside and offering them a seat. It also provides voice feedback via TTS. The launch file starts:

• greeting_guest_cognitive_module (this package)
• audio player (audio_common)
• text-to-speech node (tts_ros)

1. Prerequisites

• Ubuntu 22.04 + ROS 2 Humble installed and sourced
• colcon + rosdep + vcs tools installed
• Working CUDA GPU (optional, for faster TTS / future perception)

2. Create or reuse a workspace

If you do not already have a RoboCup/CoreSense workspace, create one:

mkdir -p robocup24_ws/src
cd robocup24_ws/src

3. Clone core stack

Clone the repository

git clone https://github.com/CoreSenseEU/cs4home_hri_challenge.git

4. Import third‑party repositories

This package ships a thirdparty.repos manifest you can feed into vcs to pull additional sources:

vcs import --recursive < cs4home_hri_challenge/thirdparty.repos

5. Install system & ROS package dependencies

From the workspace root:

cd ..   # ensure you are at robocup24_ws level (one above src)
rosdep update
rosdep install --from-paths src --ignore-src -r -y

Run rosdep again later if you add more packages.

6. Install Perception System

7. Install Whisper

8. Build

colcon build --symlink-install

9. Source the overlay

source install/setup.bash

Add the above line to your shell rc file for convenience.

10. Launch HRI Challenge

Launch dependencies

ros2 launch robocup_bringup hri_challenge_dependencies.launch.py

Launch HRI Challenge

ros2 launch cs4home_hri_challenge hri_challenge.launch.py