Usage Instructions
Simply run the following command:
rosrun qbo_brain qbo_brain.py
The qbo_brain node is implemented as a state machine, using the smach ROS package. Its states are default, music_player and phoneserver.
The default state handles all the nodes except the music_player node and the phone services nodes
When in the default state, the qbo_brain node will activate the object_recognition demo when detected a close object. If not, it will activate the face recognition demo. Also, the qbo_questions node will be constantly activated in the default state, so the robot will respond to the questions handled by this node.