hri_msgs

Note: this branch only contains ROS 2 support. For ROS 1, check the master branch.

This repository contains a set of ROS messages (ie, interfaces) of importance for human-robot interaction applications.

They are directly related to the ROS REP-155.

Physiological data

The following topics are recommended for physiological data (aligned with REP-155 namespaces):

• /humans/persons/<person_id>/ecg: Electrocardiogram (ECG) data (hri_msgs/msg/ECG)
• /humans/persons/<person_id>/eeg: Electroencephalogram (EEG) data (hri_msgs/msg/EEG)
• /humans/persons/<person_id>/ppg: Photoplethysmogram (PPG) data (hri_msgs/msg/PPG)
• /humans/persons/<person_id>/skin_conductance: Skin conductance (GSR) data (hri_msgs/msg/SkinConductance)

For setups with multiple sensors of the same type for one person (e.g., to compare different vendors), the following pattern is recommended:

• /humans/persons/<person_id>/<modality>/<sensor_id> (e.g., /humans/persons/p1/ppg/polar_h10)
• Use the header.frame_id field in the message to store the sensor's unique identifier or vendor name for programmatic differentiation.

Examples

An example script that demonstrates how to combine facial expression data with PPG sensor data is available in the ros4phypsy package as example_bridge. Another script (ppg_comparison) shows how to compare multiple PPG sensors for the same person.

To run the examples:

# Make sure to source your ROS 2 workspace
source install/setup.bash
# Run the expression/ppg combination example
ros2 run ros4phypsy example_bridge
# Run the multi-sensor comparison example
ros2 run ros4phypsy ppg_comparison