Implementing the Robot Modules in ROS

In this thesis, I developed architectures for deploying external modules on a robot using ROS. The modules were developed at UIC and are directed towards designing a multimodal human robot interaction interface. This multimodal human robot interaction uses the modules to interpret dialogue, gestures and haptic actions to establish proper communication. The interface will then be deployed on the robot which will serve as an assistant to the elderly and help the robot establish proper communication with the elderly.