Description

The iCubBlinker is a module developed by Ugo Pattacini; it is aimed at providing an easy to use interface for the blinking of the iCub. It makes the robot randomly blink with a period defined by a random number with uniform distribution in the range [min_dt, max_dt] (default [3.0 10.0]). Furthermore, one of 5 blinks is always a double blink.

Input Arguments

• --name [iCubBlinker] changes the name of the module. Every port name will be changed accordingly.
• --robot [icub] defines which robot the module will interface with (either icub or iCubSim).
• --min_dt [3.0] defines the lower bound of the period generated by the random number generator.
• --max_dt [10.0] defines the upper bound of the period generated by the random number generator.
• --autoStart specifies if the module has to run automatically or not. By default, the iCubBlinker does not run on its own: the user has to specify this flag in order to make it run.

Input Ports

• /iCubBlinker/emotions/raw: it is automatically connected to /+robot+/face/raw/in
• /iCubBlinker/rpc it is an interface for handling the blinking. It accepts the following commands:
  • start start the module
  • stop stop the module
  • get get the module status (either on or off)
  • blink do a single blink
  • dblink do a double blink