Add to publish facedetected event

[k-okada]

this pr includes #49, I'm still afraid this decrease stability of the program, I need to look more.

[k-okada]

need to set longer period? http://doc.aldebaran.com/2-1/naoqi/peopleperception/alfacedetection-tuto.html#alfacedetection-tuto

[suryaambrose]

Hum this would need discussion.
It was mentioned somewhere (can't find where anymore) we wanted to keep naoqi_driver sensor-oriented and to have all the rest in another binary / program / repo (which might be called naoqi_apps or whatever).
If this will is still relevant, then face detection should be added in that other repo and not in naoqi_driver. @vrabaud what's your opinion on that matter ?

[vrabaud]

@k-okada , please rebase.
@suryaambrose , naoqi_driver should indeed be for sensors only but as long as we don't have another process (called naoqi_service I guess) that can handle that, this is the proper place. Please do create that other process :).

[Karsten1987]

Why not putting applications like that into a naoqi-apps repo?
Please keep in mind that the internal scheduler of naoqi-driver is still single-threaded so that all service requests which will exceed their respected time affect the publish rate of all other services.

[k-okada]

ok, so where can I find naoqi-apps repo ?
https://github.com/ros-naoqi?utf8=%E2%9C%93&query=naoqi-apps

◉ Kei Okada

On Tue, Jan 12, 2016 at 6:08 AM, Karsten Knese [email protected]
wrote:

Why not putting applications like that into a naoqi-apps repo?
Please keep in mind that the internal scheduler of naoqi-driver is still
single-threaded so that all service request which will exceed their
respected time affect the publish rate of all other services.

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[Karsten1987]

Apps specific for a robot in here: https://github.com/ros-naoqi/nao_robot/tree/master/nao_apps
Apps generally for any robot: https://github.com/ros-naoqi/naoqi_bridge/tree/master/naoqi_apps

what do you think?

[k-okada]

i see, nao_apps seems to use python SDK, but in naoqi_apps, I think we'd
going to use C++ SDK, is it correct? if so do you have any good example
code?

◉ Kei Okada

On Tue, Jan 26, 2016 at 5:29 PM, Karsten Knese [email protected]
wrote:

Apps specific for a robot in here:
https://github.com/ros-naoqi/nao_robot/tree/master/nao_apps
Apps generally for any robot:
https://github.com/ros-naoqi/naoqi_bridge/tree/master/naoqi_apps

what do you think?

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[suryaambrose]

Naoqi_apps can also have python code, and nao_apps can have C++ code. The distinction between nao_apps and naoqi_apps really is:
"Is my code only working for Nao/Pepper, or can it work with any robot ?"

But I see a nao_interaction package, which has video and audio nodes, as well as FaceDetected messages and so on. Doesn't it make sense to start a C++ bridge in that repo for interaction ? In which we could integrate this work for FaceDetected event ?

[k-okada]

Humm, I thought people in aldebaran pushing to naoqi_driver, which uses C++
SDK and obsolete existing Python based naoqi_bridge, is because they
believe that is the right direction in terms of usability and efficiency.
If this is true, we'd better to use C++ for newer naoqi_apps in addition to
codes naoqi_apps should work on any robot.

◉ Kei Okada

On Tue, Jan 26, 2016 at 5:53 PM, Surya Ambrose [email protected]
wrote:

Naoqi_apps can also have python code, and nao_apps can have C++ code. The
distinction between nao_apps and naoqi_apps really is:
"Is my code only working for Nao/Pepper, or can it work with any robot ?"

But I see a nao_interaction package, which has video and audio nodes, as
well as FaceDetected messages and so on. Doesn't it make sense to start a
C++ bridge in that repo for interaction ? In which we could integrate this
work for FaceDetected event ?

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#56 (comment)
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