ROS-REP.md

+REP: 151
+Title: Conventions, topics, interfaces for Human-Robot Interaction
+Author: Séverin Lemaignan, <add your name!>
+Status: Draft 
+Type: Informational
+Content-Type: text/x-rst
+Created: 04-Jul-2018
+
+
+Abstract
+========
+
+This REP is written to provide a set of conventions and common interfaces 
+for Human-Robot Interaction (HRI) scenarios.
+This interface is designed to promote interoperability and reusability
+of core functionality between the many HRI-related software tools, from 
+skeleton tracking, to face recognition, to natural language processing.
+
+By following the naming conventions and leveraging the interfaces defined 
+in this REP, both tools and libraries can be designed to be reusable between 
+different frameworks and experiments. 
+
+These interfaces are designed to be relevant for a broad range of HRI 
+situations.
+
+Rationale
+=========
+
+There are a lot of developers around the world using ROS in contexts involving interactions with human partners.
+As such there are also many different implementations which
+are similiar but not exactly compatible. A short list of existing known
+bridges and implementations follows:
+
+- ...
+- ...
+
+Due to a lack of common interfaces the majority of the above packages
+cannot be used together. By implementing common interfaces elements of
+each package can be used in conjunction with elements of a different
+package. This will allow much better collaboration between projects and
+allow a reduction in duplicate efforts to implement the same
+functionality.
+
+Sub-domains covered by this REP
+===============================
+
+1. [Physical HRI](phri) (including haptics, fatigue)
+1. [Teleoperation](teleoperation)
+1. [Human postures, gestures](gestures), [action recognition](action-recognition)
+1. [Speech, Dialogue, Non-verbal communication](communication)
+1. [Emotions](emotions), [facial expressions](facial-expressions)
+1. [Gaze, Attention](gaze)
+
+Other interface definitions
+===========================
+
+There are already existing messages that relate to HRI. These messages definitions
+were used to help define this set.
+
+- ...
+- ...
+
+Reference Interactions
+======================
+
+```mermaid
+graph LR
+
+skel(skeleton viewer)
+
+
+A[face reco]
+B[face detection<br/>+ pose estimation]
+C[facial landmarks]
+D[emotions reco]
+E[skeleton tracker]
+URDFGEN[human URDF generator]
+F[age/gender detector]
+H[human database]
+S[speech reco]
+M[skel/face matcher]
+
+B -- /tf --> client1[ ]
+B -- /faces_roi + face frame id --> C 
+B -- /faces_roi + face frame id --> F
+C -- /facial_landmarks + face frame id  --> A
+C -- /facial_landmarks + face frame id --> D
+
+E --> M
+B --> M
+M -. " (update)"  .-> H
+F -- /age --> client3[ ]
+F -- /gender --> client4[ ]
+
+A -. "(update)" .-> H
+F -. "(update)" .-> H
+
+E -- /tf --> URDFGEN 
+URDFGEN -- " (urdf)" --> rviz
+
+H -. "(retrieve)".-> client5[ ] 
+
+classDef green fill:#9f6,stroke:#333,stroke-width:2px;
+classDef orange fill:#f96,stroke:#333,stroke-width:4px;
+class client1,client2,client3,client4,client5 green
+class skel orange
+
+```
+
+
+Coordinate Frames
+=================
+
+Cf [human posture](gestures) page.
+
+Where meaningful, the coordinate frames used for humans follow the conventions set out in [REP-120](http://www.ros.org/reps/rep-0120.html)
+
+
+Proposed Interfaces
+===================
+...
+
+Summary
+=======
+
+Existing interfaces
+-------------------
+
+
+References
+==========
+
+Copyright
+=========
+
+This document has been placed in the public domain.