diff --git a/architecture.json b/architecture.json
index 6b6c5513d27676ec84f518a104817f96cc15ad17..74b07149e1499bba2c809677a16f2aae0d5f66e2 100644
--- a/architecture.json
+++ b/architecture.json
@@ -1,147 +1,87 @@
{
"architectures" : [
{
- "description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git\nSUBFOLDER:interaction_manager",
- "name" : "Interaction manager",
- "uuid" : "b87a23ac-d223-4bac-b438-0b16e6e55270",
- "version" : "spring_dev"
- },
- {
- "description" : "BRIEF:Non-verbal behaviour generation\n ",
- "name" : "MOCK: Non-verbal behaviours",
- "uuid" : "4beabc83-79c9-482d-8b56-d7f36ed58492",
- "version" : "0.0.1"
+ "description" : "BRIEF:Face-body matching\nThis node associates detected bodies to detected faces in image-space. REPO:https://gitlab.inria.fr/spring/wp3_av_perception/body_to_face_mapper",
+ "name" : "body_to_face_mapper",
+ "uuid" : "4bd1bc1e-a5e1-4db9-9f83-e80c15e56e08",
+ "version" : "main"
},
{
- "description" : "BRIEF:Laser-based 3D people pose estimation REPO:https://gitlab.inria.fr/spring/wp3_av_perception/body_3d_tracker",
- "name" : "body_3d_tracker",
- "uuid" : "f6ab2c5c-5c73-439c-9342-fb1bbb24b1da",
+ "description" : "BRIEF:Group detection (incl. f-formations)\nREPO:https://gitlab.inria.fr/spring/wp4_behavior/group_detector",
+ "name" : "group_detector",
+ "uuid" : "ac9968c7-7626-4459-a7b3-ccbfaaac682c",
"version" : "main"
},
{
- "description" : "BRIEF:None\nREPO:git@gitlab.inria.fr:spring/wp7_ari/spring_msgs.git NOT EXECUTABLE",
- "name" : "DEPENDENCY: spring_msgs",
- "uuid" : "754b3165-805d-469a-b604-4dfef5453911",
- "version" : "0.0.2"
+ "description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git\nSUBFOLDER:robot_behaviour_plan_actions",
+ "name" : "robot_behaviour_plan_actions",
+ "uuid" : "9ff15583-a3c7-439b-a578-91ea4afac364",
+ "version" : "spring_dev"
},
{
- "description" : "BRIEF:Robot action server (person approach)\n ",
- "name" : "go_to_person_action_server",
- "uuid" : "8877ac09-dcf3-4f4b-9462-d7948759a3a3",
+ "description" : "BRIEF:Non-verbal behaviour generation\n ",
+ "name" : "MOCK: Non-verbal behaviours",
+ "uuid" : "4beabc83-79c9-482d-8b56-d7f36ed58492",
"version" : "0.0.1"
},
{
- "description" : "BRIEF:Node to republish compressed video streams on the SPRING basestation\nREPO:https://gitlab.inria.fr/spring/wp3_av_perception/docker_republish",
- "name" : "basestation_republisher",
- "uuid" : "4b6bafeb-e303-4f6b-a7db-cfa8b1fc5a23",
+ "description" : "Publishes a set of 3D points with the probability distribution of object classes at that point.\n\nETA: not clear yet.\n\nBRIEF:Object detection/identification/localisation\nREPO: git@gitlab.inria.fr:spring/wp2_mapping_localization/yolact3d.git",
+ "name" : "MOCK: Yolact3D",
+ "uuid" : "cc914ac9-9aa0-4b00-8328-f9378e229ae9",
"version" : "master"
},
{
- "description" : "blind separation + VAD + enhancement\n\nREPO: git@gitlab.inria.fr:spring/wp3_av_perception/audio_separation.git",
- "name" : "speaker_separation",
- "uuid" : "ded25e98-4132-4678-bef7-5d0945fdaf78",
- "version" : "main"
- },
- {
- "description" : "BRIEF:Robot action server (body approach)\n ",
- "name" : "go_to_body_action_server",
- "uuid" : "afd60208-b9e3-47d6-91db-ff98641995c4",
+ "description" : "BRIEF: face detection and tracking\nREPO: https://gitlab.inria.fr/spring/wp4_behavior/face-tracker",
+ "name" : "face_tracker",
+ "uuid" : "6984e32b-7df5-4466-9553-c24967deef2f",
"version" : "0.0.1"
},
{
- "description" : "The code is primarily developed at INRIA by Timothée Wintz.\nREPO: https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior\nSUBFOLDER:src/robot_behavior",
- "name" : "robot_behavior",
- "uuid" : "d5ec9783-4c4f-4652-a8bd-b786a1905f48",
- "version" : "devel"
- },
- {
- "description" : "BRIEF: proxy to robot's TTS action server for ERM convenience",
- "name" : "dialogue_say",
- "uuid" : "c854e5a0-2dbe-4eee-a79b-723d08083339",
- "version" : "main"
- },
- {
- "description" : "only single-speaker pipeline\n\nBRIEF:Audio pre-processing (incl. noise cancellation) This node performs: - speech echo cancelation, - single microphone audio enhancement, REPO:https://gitlab.inria.fr/spring/wp3_av_perception/speech-enhancement SUBFOLDER:audio_processing ",
- "name" : "audio_processing",
- "uuid" : "703291ee-d2c9-4f3c-a94c-fb6030dd783e",
- "version" : "BIU_dev"
- },
- {
- "description" : "BRIEF:None\nREPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git\nSUBFOLDER:social_scene_msgs\nNOT EXECUTABLE",
- "name" : "DEPENDENCY: social_scene_msgs",
- "uuid" : "ed680a03-e715-423d-b567-001b19ca4840",
- "version" : "spring_dev"
- },
- {
- "description" : "BRIEF:None\nREPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git\nSUBFOLDER:interaction_manager_msgs\nNOT EXECUTABLE",
- "name" : "DEPENDENCY: interaction_manager_msgs",
- "uuid" : "269a1164-ad2d-488c-9b86-b4256faddf9f",
+ "description" : "BRIEF:None REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/asr.git SUBFOLDER:audio_msgs NOT EXECUTABLE",
+ "name" : "DEPENDENCY: audio_msgs",
+ "uuid" : "88aec3fc-6d19-455e-96fc-303c6aaab831",
"version" : "spring_dev"
},
{
- "description" : "BRIEF:Speech recognition based on NVIDIA Riva REPO:https://gitlab.inria.fr/spring/wp3_av_perception/riva_asr_ros_client ",
- "name" : "riva_asr",
- "uuid" : "11d2ee50-fd1e-4664-be3b-1a250ec7d758",
- "version" : "main"
- },
- {
- "description" : "BRIEF:Monocular gaze estimation on planar image This node uses deep learning to estimate, on a given frame, the focus of attention of a detected face. It outputs the 2D coordinate of the most likely focus of attention, in the image space. REPO:https://gitlab.inria.fr/spring/wp4_behavior/gaze-estimation",
- "name" : "gaze_estimation",
- "uuid" : "2acb3f97-e06f-4e94-a48f-a3e140ad55fb",
- "version" : "devel"
- },
- {
- "description" : "REPO:git@gitlab.inria.fr:spring/wp1_user_application/user_application.git",
- "name" : "MOCK: Robot GUI [tablet]",
- "uuid" : "8a919bc7-c80b-4325-ac63-d04f2fc1d6bb",
+ "description" : "BRIEF:Probabilistic fusion of faces, bodies, voices into persons\nREPO:git@gitlab.inria.fr:spring/wp7_ari/hri_person_manager.git",
+ "name" : "hri_person_manager",
+ "uuid" : "1f5e18f3-1be0-4e21-a3e1-439a597fe002",
"version" : "master"
},
{
- "description" : "BRIEF:Petrinet-based task planning\nros_petri_net_node is...",
- "name" : "ros_petri_net_node",
- "uuid" : "d08a0f04-1e8d-4aa1-b71a-b3bf4597d4e2",
- "version" : "0.0.1"
- },
- {
- "description" : "BRIEF:None\nREPO: git@gitlab:ros4hri/hri_msgs.git\nNOT EXECUTABLE",
- "name" : "DEPENDENCY: hri_msgs",
- "uuid" : "7590c224-e846-4f1c-9ecb-0a2992568089",
- "version" : "0.1.1"
- },
- {
- "description" : "Detects age/gender\nREPO:git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git\nSUBFOLDER:wp4_people_characteristics\nBIN:soft_biometrics_estimator.py",
- "name" : "Soft biometrics",
- "uuid" : "970d1105-d292-4308-b90f-8d8005a781eb",
- "version" : "master"
+ "description" : "BRIEF: Experiment_exporter is in charge of logging the experiment data.\nREPO:git@gitlab.inria.fr:spring/wp1_user_application/export-dialog.git",
+ "name" : "experiment_exporter",
+ "uuid" : "923f34e5-2023-4f02-985d-3e7f472b861f",
+ "version" : "main"
},
{
- "description" : "BRIEF:Robot action server (group approach)\n ",
- "name" : "go_to_group_action_server",
- "uuid" : "90d17edc-f200-49f6-adad-5100466d6703",
+ "description" : "BRIEF: robot's hardware interfaces",
+ "name" : "Robot functional layer",
+ "uuid" : "69547d1d-f0ba-4ebf-b19b-f8cc5e63fd36",
"version" : "0.0.1"
},
{
- "description" : "Detects presence of a facial mask\nREPO:https://gitlab.inria.fr/spring/wp4_behavior/mask-detection BIN:mask_detector.py",
- "name" : "Mask detection",
- "uuid" : "b343b3de-f4eb-412c-ae93-fca0f090ee5d",
- "version" : "master"
+ "description" : "BRIEF:Monocular depth estimation\nREPO:https://gitlab.inria.fr/spring/wp4_behavior/depth-estimation",
+ "name" : "depth_estimation",
+ "uuid" : "bc0aa7fa-7aef-44a0-8cd1-48e4a3e87e7b",
+ "version" : "main"
},
{
- "description" : "BRIEF:ALANA chatbot\n ",
- "name" : "alana_node",
- "uuid" : "f8c8f093-a1b2-4115-8526-089374b7c119",
+ "description" : "BRIEF:None\n ",
+ "name" : "look_at_person_server",
+ "uuid" : "28912232-55a1-48ad-bb37-c99b7f1ad079",
"version" : "0.0.1"
},
{
- "description" : "BRIEF:High-level interaction supervisor\n ",
- "name" : "social_strategy_supervisor",
- "uuid" : "02a6c7d9-b0e8-4b4c-a838-56a4990ca96c",
- "version" : "0.0.1"
+ "description" : "BRIEF:ROS messages\nREPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git SUBFOLDER:robot_behaviour_msgs NOT EXECUTABLE",
+ "name" : "DEPENDENCY: robot_behaviour_msgs",
+ "uuid" : "9d93f431-05b6-4ee4-88ea-8bb60a01611f",
+ "version" : "spring_dev"
},
{
- "description" : "BRIEF: RGB head camera driver",
- "name" : "raspicam",
- "uuid" : "cf447604-0976-4fc3-ad4e-a135fa8ba454",
+ "description" : "BRIEF:Robot action server (body approach)\n ",
+ "name" : "go_to_body_action_server",
+ "uuid" : "afd60208-b9e3-47d6-91db-ff98641995c4",
"version" : "0.0.1"
},
{
@@ -151,52 +91,40 @@
"version" : "0.0.1"
},
{
- "description" : "BRIEF:Semantic bridge between human perception and the knowledge base\nREPO:https://gitlab.inria.fr/spring/wp7_ari/people_facts",
- "name" : "people_facts",
- "uuid" : "bfea9558-3b6a-44a6-a8ae-75c1e679ff48",
- "version" : "0.2.2"
- },
- {
- "description" : "BRIEF:Robot action server ('look at person' action)\n ",
- "name" : "look_at_position_action_server",
- "uuid" : "ba99bc77-6bde-403a-97f5-223132fb109a",
+ "description" : "BRIEF: Frontal RGB-D camera driver",
+ "name" : "torso_rgbd_camera",
+ "uuid" : "0ccd4f8f-abe0-4eae-9d35-d6af509364eb",
"version" : "0.0.1"
},
{
- "description" : "BRIEF:Speaker identification based on voice embeddings\nREPO:git@gitlab.inria.fr:spring/wp4_behavior/non-integrated-contributions/speaker_identification.git",
- "name" : "speakers_id",
- "uuid" : "77ebd1d1-7f1e-47b7-8a26-4328c95c817a",
- "version" : "dual_speaker_ecapa"
- },
- {
- "description" : "REPO:https://gitlab.inria.fr/spring/wp4_behavior/human-2d-pose-estimation",
- "name" : "human-2d-pose-estimation",
- "uuid" : "6a63c8f2-ccf1-434f-807e-1c0570ccdbc4",
+ "description" : "BRIEF:Speech recognition based on NVIDIA Riva\nREPO:https://gitlab.inria.fr/spring/wp3_av_perception/riva_asr_ros_client ",
+ "name" : "riva_asr",
+ "uuid" : "11d2ee50-fd1e-4664-be3b-1a250ec7d758",
"version" : "main"
},
{
- "description" : "BRIEF:Social scene understanding\n ",
- "name" : "social_state_analyzer",
- "uuid" : "4f0b2a37-97ff-46ee-aff2-77001218ba31",
+ "description" : "BRIEF: Voice embedding + speaker separation together (planned for Autumn 2023)",
+ "name" : "MOCK: speaker_extraction",
+ "uuid" : "9a662d15-0e9a-4d34-bf73-ab087206578f",
"version" : "0.0.1"
},
{
- "description" : "BRIEF:Robot's RDF/OWL knowledge base\nREPO:https://gitlab.inria.fr/spring/wp7_ari/knowledge_core",
- "name" : "knowledge_core",
- "uuid" : "15ec41b7-dcd6-4504-88c5-5eb6b80899f2",
- "version" : "2.8.0"
+ "description" : "BRIEF:High-level interaction supervisor\n ",
+ "name" : "social_strategy_supervisor",
+ "uuid" : "02a6c7d9-b0e8-4b4c-a838-56a4990ca96c",
+ "version" : "0.0.1"
},
{
- "description" : "Web server for the experimenter tablet\n\nREPO:git@gitlab.inria.fr:spring/wp1_user_application/exp-gui.git",
+ "description" : "BRIEF: Web server for the experimenter tablet\nREPO:git@gitlab.inria.fr:spring/wp1_user_application/exp-gui.git",
"name" : "exp_gui",
"uuid" : "68debd5e-9e7a-486c-a58e-d553009e0cb3",
"version" : "main"
},
{
- "description" : "slam_rtabmap is...",
- "name" : "slam_rtabmap",
- "uuid" : "046d668f-a787-4753-ab2f-c2b04f922ad0",
- "version" : "0.0.1"
+ "description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git SUBFOLDER:dialogue_arbiter",
+ "name" : "dialogue arbiter",
+ "uuid" : "e2ee44b3-4f04-4a27-a947-525fae05035d",
+ "version" : "main"
},
{
"description" : "BRIEF:Activity recognition\n ",
@@ -205,35 +133,17 @@
"version" : "0.0.1"
},
{
- "description" : "BRIEF: Frontal RGB-D camera driver",
- "name" : "torso_rgbd_camera",
- "uuid" : "0ccd4f8f-abe0-4eae-9d35-d6af509364eb",
- "version" : "0.0.1"
- },
- {
- "description" : "BRIEF:Matching between localised voices and detected bodies\n ",
- "name" : "MOCK: Voice-body matching",
- "uuid" : "c5fafc14-fe29-4632-be64-aa233e6c72ee",
+ "description" : "BRIEF:Social scene understanding\n ",
+ "name" : "social_state_analyzer",
+ "uuid" : "4f0b2a37-97ff-46ee-aff2-77001218ba31",
"version" : "0.0.1"
},
{
- "description" : "2D body detector and tracker, based on the FairMOT algorithm.\nThis code is primarily developed at INRIA by Luis Gomez Camara.\nREPO: https://gitlab.inria.fr/spring/wp3_av_perception/multi-person_visual_tracker/",
- "name" : "FairMOT Multi-people body tracker",
- "uuid" : "d0367ed7-2b45-4244-9507-538e7767127f",
- "version" : "devel"
- },
- {
- "description" : "BRIEF:Microphone array driver REPO:git@gitlab.inria.fr:spring/wp7_ari/respeaker_ros.git BIN:respeaker_multichan_node.py",
- "name" : "respeaker_ros",
- "uuid" : "b96ac6ba-08a0-4df0-8341-206c356f7c87",
+ "description" : "Detects presence of a facial mask\nREPO:https://gitlab.inria.fr/spring/wp4_behavior/mask-detection BIN:mask_detector.py",
+ "name" : "Mask detection",
+ "uuid" : "b343b3de-f4eb-412c-ae93-fca0f090ee5d",
"version" : "master"
},
- {
- "description" : "BRIEF:Group detection (incl. f-formations)\nREPO:https://gitlab.inria.fr/spring/wp4_behavior/group_detector",
- "name" : "group_detector",
- "uuid" : "ac9968c7-7626-4459-a7b3-ccbfaaac682c",
- "version" : "main"
- },
{
"description" : "Based on OpenPOSE\n\nBRIEF:2D skeleton estimator This node estimates the 2.5D (x,y,theta) pose of nearby persons.\nREPO:https://gitlab.inria.fr/spring/wp3_av_perception/front_fisheye_2d_body_pose_detector",
"name" : "front_fisheye_2d_body_pose_detector",
@@ -241,10 +151,10 @@
"version" : "main"
},
{
- "description" : "BRIEF: frontal fisheye camera driver",
- "name" : "fisheye",
- "uuid" : "9acdd8b9-4805-4239-aec0-8db4d0977e64",
- "version" : "0.0.1"
+ "description" : "BRIEF:Microphone array driver REPO:git@gitlab.inria.fr:spring/wp7_ari/respeaker_ros.git BIN:respeaker_multichan_node.py",
+ "name" : "respeaker_ros",
+ "uuid" : "b96ac6ba-08a0-4df0-8341-206c356f7c87",
+ "version" : "master"
},
{
"description" : "Docker not yet published\n\nBRIEF:Global localization, service-based\nREPO:git@gitlab.inria.fr:spring/wp2_mapping_localization/hloc-mapping-localization.git",
@@ -253,150 +163,276 @@
"version" : "main"
},
{
- "description" : "BRIEF:Face-body matching\nThis node associates detected bodies to detected faces in image-space. REPO:https://gitlab.inria.fr/spring/wp3_av_perception/body_to_face_mapper",
- "name" : "body_to_face_mapper",
- "uuid" : "4bd1bc1e-a5e1-4db9-9f83-e80c15e56e08",
+ "description" : "BRIEF:Speech recognition based on NVIDIA Riva (2nd instance for 2nd speaker)\nREPO:https://gitlab.inria.fr/spring/wp3_av_perception/riva_asr_ros_client ",
+ "name" : "riva_asr_1",
+ "uuid" : "23b514b9-a56c-461e-9dc0-7da9dd15e0fe",
"version" : "main"
},
{
- "description" : "BRIEF:None\nREPO:git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git\nSUBFOLDER:wp4_msgs\nNOT EXECUTABLE",
+ "description" : "BRIEF:ROS messages\nREPO:git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git SUBFOLDER:wp4_msgs NOT EXECUTABLE",
"name" : "DEPENDENCY: wp4_msgs",
"uuid" : "af8592a3-f2de-4843-b29d-8868afac79be",
"version" : "master"
},
{
- "description" : "BRIEF:Speech pre-processing (incl. end of speech detection) \nREPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git\nSUBFOLDER:dialogue_speech",
+ "description" : "BRIEF:Speech pre-processing (incl. end of speech detection) REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git SUBFOLDER:dialogue_speech",
"name" : "dialogue_speech",
"uuid" : "257fcacc-ff35-430b-b11f-efd376c496ce",
"version" : "master"
},
{
- "description" : "BRIEF:Speech recognition based on NVIDIA Riva (2nd instance for 2nd speaker)\nREPO:https://gitlab.inria.fr/spring/wp3_av_perception/riva_asr_ros_client ",
- "name" : "riva_asr_1",
- "uuid" : "23b514b9-a56c-461e-9dc0-7da9dd15e0fe",
+ "description" : "REPO:https://gitlab.inria.fr/spring/wp4_behavior/human-2d-pose-estimation",
+ "name" : "human-2d-pose-estimation",
+ "uuid" : "6a63c8f2-ccf1-434f-807e-1c0570ccdbc4",
"version" : "main"
},
{
- "description" : "BRIEF:Robot action server (navigation to location)\n ",
- "name" : "go_to_position_action_server",
- "uuid" : "cc6bb1c2-c450-4e00-b0d8-b0f0d2048e04",
- "version" : "0.0.1"
- },
- {
- "description" : "voice embedding + speaker separation together\n\nETA: ~autumn 2023",
- "name" : "MOCK: speaker_extraction",
- "uuid" : "9a662d15-0e9a-4d34-bf73-ab087206578f",
+ "description" : "slam_rtabmap is...",
+ "name" : "slam_rtabmap",
+ "uuid" : "046d668f-a787-4753-ab2f-c2b04f922ad0",
"version" : "0.0.1"
},
{
- "description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git SUBFOLDER:dialogue_arbiter",
- "name" : "dialogue arbiter",
- "uuid" : "e2ee44b3-4f04-4a27-a947-525fae05035d",
- "version" : "main"
+ "description" : "BRIEF:ROS messages\nREPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:social_scene_msgs NOT EXECUTABLE",
+ "name" : "DEPENDENCY: social_scene_msgs",
+ "uuid" : "ed680a03-e715-423d-b567-001b19ca4840",
+ "version" : "spring_dev"
},
{
- "description" : "experiment_exporter is in charge of logging the experiment data.\n\nREPO:git@gitlab.inria.fr:spring/wp1_user_application/export-dialog.git",
- "name" : "experiment_exporter",
- "uuid" : "923f34e5-2023-4f02-985d-3e7f472b861f",
+ "description" : "BRIEF: proxy to robot's TTS action server for ERM convenience",
+ "name" : "dialogue_say",
+ "uuid" : "c854e5a0-2dbe-4eee-a79b-723d08083339",
"version" : "main"
},
{
- "description" : "Publishes a set of 3D points with the probability distribution of object classes at that point.\n\nETA: not clear yet.\n\nBRIEF:Object detection/identification/localisation\nREPO: git@gitlab.inria.fr:spring/wp2_mapping_localization/yolact3d.git",
- "name" : "MOCK: Yolact3D",
- "uuid" : "cc914ac9-9aa0-4b00-8328-f9378e229ae9",
+ "description" : "BRIEF: Robot tablet interface\nREPO:git@gitlab.inria.fr:spring/wp1_user_application/user_application.git",
+ "name" : "MOCK: Robot GUI [tablet]",
+ "uuid" : "8a919bc7-c80b-4325-ac63-d04f2fc1d6bb",
"version" : "master"
},
{
- "description" : "BRIEF:Probabilistic fusion of faces, bodies, voices into persons\nREPO:git@gitlab.inria.fr:spring/wp7_ari/hri_person_manager.git",
- "name" : "hri_person_manager",
- "uuid" : "1f5e18f3-1be0-4e21-a3e1-439a597fe002",
- "version" : "master"
+ "description" : "BRIEF:ROS messages for the ROS4HRI standard\nREPO: git@gitlab:ros4hri/hri_msgs.git NOT EXECUTABLE",
+ "name" : "DEPENDENCY: hri_msgs",
+ "uuid" : "7590c224-e846-4f1c-9ecb-0a2992568089",
+ "version" : "0.1.1"
},
{
- "description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git\nSUBFOLDER:robot_behaviour_plan_actions",
- "name" : "robot_behaviour_plan_actions",
- "uuid" : "9ff15583-a3c7-439b-a578-91ea4afac364",
+ "description" : "BRIEF: frontal fisheye camera driver",
+ "name" : "fisheye",
+ "uuid" : "9acdd8b9-4805-4239-aec0-8db4d0977e64",
+ "version" : "0.0.1"
+ },
+ {
+ "description" : "BRIEF:Semantic bridge between human perception and the knowledge base\nREPO:https://gitlab.inria.fr/spring/wp7_ari/people_facts",
+ "name" : "people_facts",
+ "uuid" : "bfea9558-3b6a-44a6-a8ae-75c1e679ff48",
+ "version" : "0.2.2"
+ },
+ {
+ "description" : "BRIEF:Robot's RDF/OWL knowledge base\nREPO:https://gitlab.inria.fr/spring/wp7_ari/knowledge_core",
+ "name" : "knowledge_core",
+ "uuid" : "15ec41b7-dcd6-4504-88c5-5eb6b80899f2",
+ "version" : "2.8.0"
+ },
+ {
+ "description" : "BRIEF:ROS messages\nREPO:git@gitlab.inria.fr:spring/wp7_ari/spring_msgs.git NOT EXECUTABLE",
+ "name" : "DEPENDENCY: spring_msgs",
+ "uuid" : "754b3165-805d-469a-b604-4dfef5453911",
+ "version" : "0.0.2"
+ },
+ {
+ "description" : "BRIEF:ROS messages\nREPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager_msgs NOT EXECUTABLE",
+ "name" : "DEPENDENCY: interaction_manager_msgs",
+ "uuid" : "269a1164-ad2d-488c-9b86-b4256faddf9f",
"version" : "spring_dev"
},
{
- "description" : "BRIEF:Monocular depth estimation\nREPO:https://gitlab.inria.fr/spring/wp4_behavior/depth-estimation",
- "name" : "depth_estimation",
- "uuid" : "bc0aa7fa-7aef-44a0-8cd1-48e4a3e87e7b",
- "version" : "main"
+ "description" : "The code is primarily developed at INRIA by Timothée Wintz.\nREPO: https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior\nSUBFOLDER:src/robot_behavior",
+ "name" : "robot_behavior",
+ "uuid" : "d5ec9783-4c4f-4652-a8bd-b786a1905f48",
+ "version" : "devel"
},
{
- "description" : "BRIEF:None\n ",
- "name" : "look_at_person_server",
- "uuid" : "28912232-55a1-48ad-bb37-c99b7f1ad079",
+ "description" : "BRIEF: RGB head camera driver",
+ "name" : "raspicam",
+ "uuid" : "cf447604-0976-4fc3-ad4e-a135fa8ba454",
"version" : "0.0.1"
},
{
- "description" : "BRIEF:None\nREPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git\nSUBFOLDER:robot_behaviour_msgs\nNOT EXECUTABLE",
- "name" : "DEPENDENCY: robot_behaviour_msgs",
- "uuid" : "9d93f431-05b6-4ee4-88ea-8bb60a01611f",
- "version" : "spring_dev"
+ "description" : "2D body detector and tracker, based on the FairMOT algorithm.\nThis code is primarily developed at INRIA by Luis Gomez Camara.\nREPO: https://gitlab.inria.fr/spring/wp3_av_perception/multi-person_visual_tracker/",
+ "name" : "FairMOT Multi-people body tracker",
+ "uuid" : "d0367ed7-2b45-4244-9507-538e7767127f",
+ "version" : "devel"
},
{
- "description" : "BRIEF:None\nREPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/asr.git\nSUBFOLDER:audio_msgs\nNOT EXECUTABLE",
- "name" : "DEPENDENCY: audio_msgs",
- "uuid" : "88aec3fc-6d19-455e-96fc-303c6aaab831",
+ "description" : "BRIEF:Audio pre-processing (incl. noise cancellation)\nThis node performs:\n- speech echo cancelation,\n- single microphone audio enhancement\nUsed for the single-speaker only pipeline.\nREPO:https://gitlab.inria.fr/spring/wp3_av_perception/speech-enhancement SUBFOLDER:audio_processing ",
+ "name" : "audio_processing",
+ "uuid" : "703291ee-d2c9-4f3c-a94c-fb6030dd783e",
+ "version" : "BIU_dev"
+ },
+ {
+ "description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager",
+ "name" : "Interaction manager",
+ "uuid" : "b87a23ac-d223-4bac-b438-0b16e6e55270",
"version" : "spring_dev"
},
{
- "description" : "BRIEF: robot's hardware interfaces",
- "name" : "Robot functional layer",
- "uuid" : "69547d1d-f0ba-4ebf-b19b-f8cc5e63fd36",
+ "description" : "BRIEF:ALANA chatbot\n ",
+ "name" : "alana_node",
+ "uuid" : "f8c8f093-a1b2-4115-8526-089374b7c119",
+ "version" : "0.0.1"
+ },
+ {
+ "description" : "BRIEF:Matching between localised voices and detected bodies\n ",
+ "name" : "MOCK: Voice-body matching",
+ "uuid" : "c5fafc14-fe29-4632-be64-aa233e6c72ee",
+ "version" : "0.0.1"
+ },
+ {
+ "description" : "BRIEF:Robot action server (navigation to location)\n ",
+ "name" : "go_to_position_action_server",
+ "uuid" : "cc6bb1c2-c450-4e00-b0d8-b0f0d2048e04",
+ "version" : "0.0.1"
+ },
+ {
+ "description" : "BRIEF:Speaker identification based on voice embeddings\nREPO:git@gitlab.inria.fr:spring/wp4_behavior/non-integrated-contributions/speaker_identification.git",
+ "name" : "speakers_id",
+ "uuid" : "77ebd1d1-7f1e-47b7-8a26-4328c95c817a",
+ "version" : "dual_speaker_ecapa"
+ },
+ {
+ "description" : "BRIEF:Node to republish compressed video streams on the SPRING basestation\nREPO:https://gitlab.inria.fr/spring/wp3_av_perception/docker_republish",
+ "name" : "basestation_republisher",
+ "uuid" : "4b6bafeb-e303-4f6b-a7db-cfa8b1fc5a23",
+ "version" : "master"
+ },
+ {
+ "description" : "BRIEF:Petrinet-based task planning\nros_petri_net_node is...",
+ "name" : "ros_petri_net_node",
+ "uuid" : "d08a0f04-1e8d-4aa1-b71a-b3bf4597d4e2",
+ "version" : "0.0.1"
+ },
+ {
+ "description" : "BRIEF:Robot action server (group approach)\n ",
+ "name" : "go_to_group_action_server",
+ "uuid" : "90d17edc-f200-49f6-adad-5100466d6703",
+ "version" : "0.0.1"
+ },
+ {
+ "description" : "BRIEF:Robot action server (person approach)\n ",
+ "name" : "go_to_person_action_server",
+ "uuid" : "8877ac09-dcf3-4f4b-9462-d7948759a3a3",
+ "version" : "0.0.1"
+ },
+ {
+ "description" : "Detects age/gender\nREPO:git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git\nSUBFOLDER:wp4_people_characteristics\nBIN:soft_biometrics_estimator.py",
+ "name" : "Soft biometrics",
+ "uuid" : "970d1105-d292-4308-b90f-8d8005a781eb",
+ "version" : "master"
+ },
+ {
+ "description" : "BRIEF:blind separation + VAD + enhancement\nREPO: git@gitlab.inria.fr:spring/wp3_av_perception/audio_separation.git",
+ "name" : "speaker_separation",
+ "uuid" : "ded25e98-4132-4678-bef7-5d0945fdaf78",
+ "version" : "main"
+ },
+ {
+ "description" : "BRIEF:Robot action server ('look at person' action)\n ",
+ "name" : "look_at_position_action_server",
+ "uuid" : "ba99bc77-6bde-403a-97f5-223132fb109a",
"version" : "0.0.1"
},
+ {
+ "description" : "BRIEF:Monocular gaze estimation on planar image This node uses deep learning to estimate, on a given frame, the focus of attention of a detected face. It outputs the 2D coordinate of the most likely focus of attention, in the image space. REPO:https://gitlab.inria.fr/spring/wp4_behavior/gaze-estimation",
+ "name" : "gaze_estimation",
+ "uuid" : "2acb3f97-e06f-4e94-a48f-a3e140ad55fb",
+ "version" : "devel"
+ },
+ {
+ "description" : "BRIEF:Laser-based 3D people pose estimation REPO:https://gitlab.inria.fr/spring/wp3_av_perception/body_3d_tracker",
+ "name" : "body_3d_tracker",
+ "uuid" : "f6ab2c5c-5c73-439c-9342-fb1bbb24b1da",
+ "version" : "main"
+ },
{
"connections" : [
{
- "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/tracked [hri_msgs/IdsList]",
+ "from" : "3cf6f1fb-04b3-43fa-b320-b1eb1f81505f:/slam/obstacle_map [OccupancyGrid]",
"name" : "anonymous",
- "to" : "49998d33-7c64-4557-b1c9-56b241b59600:/h/v/tracked [hri_msgs/IdsList]",
- "uuid" : "9c2706ae-a494-4a78-a944-834fe7c4d97f"
+ "to" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44:/slam/obstacle_map [OccupancyGrid]",
+ "uuid" : "b7364a5a-ceb2-443c-af37-2a728c4230de"
},
{
- "from" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44:/slam/local_map [OccupancyGrid]",
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:/updates",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/slam/local_map [OccupancyGrid]",
- "uuid" : "56df27e4-afb2-47fa-94cc-39d91d888790"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/interaction_manager/update [service]",
+ "uuid" : "a74eee63-bd44-4275-ad4d-eb6431a34a31"
},
{
- "from" : "35d5af59-53e3-466c-874d-89131352c403:/queries",
+ "from" : "49035386-4f22-41d7-a281-71dcc64592bc:/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/interaction_manager/query [service]",
- "uuid" : "5f958a4f-4e9b-4339-9a4b-bc4184294be4"
+ "to" : "d715b004-7177-4001-bd9d-725e87789c94:/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]",
+ "uuid" : "db51bf6c-8e11-461a-8e4d-5f51abfb07b2"
},
{
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:/get_answer [service]",
+ "from" : "57c4f67f-9225-4bdc-9142-f9e92c2cada8:ROS service: pose + covariance",
"name" : "anonymous",
- "to" : "f845ee2c-4cb3-4cae-bde9-8ac2ba692ee7:/get_answer [service]",
- "uuid" : "492038a0-5169-4175-8684-4105c1b6a884"
+ "to" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:[call HLoc to perform global localization]",
+ "uuid" : "580f1af2-ca26-4839-9c78-54ade7c3d508"
+ },
+ {
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/look_at goals",
+ "name" : "anonymous",
+ "to" : "4d1289b0-8d15-4c6c-ba82-f4fb9c3f4f17:goal",
+ "uuid" : "ee13926e-e8a8-4dfb-a4c2-25cff58d2f0e"
+ },
+ {
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/look_at goals",
+ "name" : "anonymous",
+ "to" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6:goal",
+ "uuid" : "782a3dc0-ab15-46fd-b807-47205e93b52c"
+ },
+ {
+ "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/tracked [hri_msgs/IdsList]",
+ "name" : "anonymous",
+ "to" : "49998d33-7c64-4557-b1c9-56b241b59600:/h/v/tracked [hri_msgs/IdsList]",
+ "uuid" : "9c2706ae-a494-4a78-a944-834fe7c4d97f"
+ },
+ {
+ "from" : "9a5658f1-943d-4889-8e2a-0735ee5de159:/look_at [LookAt]",
+ "name" : "anonymous",
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/look_at [LookAt]",
+ "uuid" : "90b73e40-c764-46c4-ac32-abcedc29a818"
},
{
"from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/controller_status [ControllerStatus]",
- "uuid" : "34a8a7dd-e143-45c5-bbcd-c0176684ad6c"
+ "to" : "9a5658f1-943d-4889-8e2a-0735ee5de159:/controller_status [ControllerStatus]",
+ "uuid" : "42e3806c-f806-45e7-876c-098a97560980"
},
{
- "from" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:/dialogue_say/text [String]",
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
"name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/dialogue_say/text",
- "uuid" : "8247d454-c373-4abb-98a7-665e10228244"
+ "to" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6:/controller_status [ControllerStatus]",
+ "uuid" : "1ef0d26e-d2bf-4fd0-8551-48caf5caa422"
},
{
- "from" : "c9b76975-8236-4440-8693-6756fef3990b:tf: /body_*",
+ "from" : "5a0113b6-a999-4339-8e21-44f3b8b3d693:service: /kb/query",
"name" : "anonymous",
- "to" : "172516ca-a279-42a7-b515-ba2257887296:tf: /body_*",
- "uuid" : "54c50500-4375-42ea-8633-ff35dfd2ea48"
+ "to" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:kb",
+ "uuid" : "e5fa5fa4-fb7f-4ea7-8a49-de1002a814d9"
},
{
- "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/tracked [hri_msgs/IdsList]",
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/look_at goals",
"name" : "anonymous",
- "to" : "172516ca-a279-42a7-b515-ba2257887296:/humans/voices/tracked",
- "uuid" : "211c858d-1555-493f-aef2-d36c5872bb81"
+ "to" : "9a5658f1-943d-4889-8e2a-0735ee5de159:goal",
+ "uuid" : "4ba10f1b-81be-46c5-8c9f-4071448fce1a"
+ },
+ {
+ "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:/get_answer [service]",
+ "name" : "anonymous",
+ "to" : "f845ee2c-4cb3-4cae-bde9-8ac2ba692ee7:/get_answer [service]",
+ "uuid" : "492038a0-5169-4175-8684-4105c1b6a884"
},
{
"from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/tracker/tracker_output [std_msgs/String]",
@@ -417,34 +453,34 @@
"uuid" : "21d49c6c-a6a8-49d5-9ab6-b166e461e189"
},
{
- "from" : "c0155b17-15f4-4d86-909b-433fe737cb5f:/go_towards [GoTowards]",
+ "from" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44:/slam/local_map [OccupancyGrid]",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/go_towards [GoTowards]",
- "uuid" : "45074b98-4c72-41a3-b153-6dde57d35782"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/slam/local_map [OccupancyGrid]",
+ "uuid" : "56df27e4-afb2-47fa-94cc-39d91d888790"
},
{
- "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/tracked [hri_msgs/IdsList]",
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/navigation goals",
"name" : "anonymous",
- "to" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:/humans/persons/tracked",
- "uuid" : "ad7dd3e2-3743-4761-a1f7-2cbf3783df83"
+ "to" : "b2cf0310-792d-4753-9e3d-243de1c81bbe:goal",
+ "uuid" : "0dc8a6db-327c-4d2d-9cbf-21d2463b0299"
},
{
- "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/*/audio [audio_common_msgs/AudioData]",
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/navigation goals",
"name" : "anonymous",
- "to" : "49998d33-7c64-4557-b1c9-56b241b59600:/h/v/*/audio [audio_common_msgs/AudioData]",
- "uuid" : "69f97c03-347d-465f-9b4e-414ab5dda4c9"
+ "to" : "c0155b17-15f4-4d86-909b-433fe737cb5f:goal",
+ "uuid" : "f209f60a-c45d-4653-bf06-3427432f6cbf"
},
{
- "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:/queries",
"name" : "anonymous",
- "to" : "b2cf0310-792d-4753-9e3d-243de1c81bbe:/controller_status [ControllerStatus]",
- "uuid" : "68350299-f55a-46af-af4b-03e6415f2237"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/interaction_manager/query [service]",
+ "uuid" : "5f958a4f-4e9b-4339-9a4b-bc4184294be4"
},
{
- "from" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6:/navigate [Navigate]",
+ "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/tracked [hri_msgs/IdsList]",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/navigate [Navigate]",
- "uuid" : "f079a4f9-9fbb-44bc-8f51-24e96f94d674"
+ "to" : "172516ca-a279-42a7-b515-ba2257887296:/humans/voices/tracked",
+ "uuid" : "211c858d-1555-493f-aef2-d36c5872bb81"
},
{
"from" : "910781c7-928f-4445-a97b-6fbad208066f:/torso_front_camera/color/image_raw [sensor_msgs/Image]",
@@ -465,100 +501,100 @@
"uuid" : "425790fa-4175-499d-9784-642548e93757"
},
{
- "from" : "910781c7-928f-4445-a97b-6fbad208066f:/torso_front_camera/imu",
+ "from" : "c0155b17-15f4-4d86-909b-433fe737cb5f:/go_towards [GoTowards]",
"name" : "anonymous",
- "to" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:/torso_front_camera/imu",
- "uuid" : "0e8dee5d-ac4f-4d31-95cc-1ddd8fa9e8b0"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/go_towards [GoTowards]",
+ "uuid" : "45074b98-4c72-41a3-b153-6dde57d35782"
},
{
- "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/head_front_camera/color/image_raw [sensor_msgs/Image]",
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
"name" : "anonymous",
- "to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/head_front_camera/color/image_raw/compressed",
- "uuid" : "1fb9d2e7-103a-4355-b2a9-dc3debc7be30"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/controller_status [ControllerStatus]",
+ "uuid" : "34a8a7dd-e143-45c5-bbcd-c0176684ad6c"
},
{
- "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:tf: /voice_*",
+ "from" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:/dialogue_say/text [String]",
"name" : "anonymous",
- "to" : "172516ca-a279-42a7-b515-ba2257887296:tf: /voice_*",
- "uuid" : "57f369c0-8b58-4ae7-a8dd-0d07c55017c0"
+ "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/dialogue_say/text",
+ "uuid" : "8247d454-c373-4abb-98a7-665e10228244"
},
{
- "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
+ "from" : "c9b76975-8236-4440-8693-6756fef3990b:tf: /body_*",
"name" : "anonymous",
- "to" : "2fb3e19c-7562-4c43-bd74-c043a5efec7c:/controller_status [ControllerStatus]",
- "uuid" : "bfa3a196-7137-43ea-bc20-a2715f466c68"
+ "to" : "172516ca-a279-42a7-b515-ba2257887296:tf: /body_*",
+ "uuid" : "54c50500-4375-42ea-8633-ff35dfd2ea48"
},
{
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/dialogue_start",
+ "from" : "910781c7-928f-4445-a97b-6fbad208066f:/torso_front_camera/imu",
"name" : "anonymous",
- "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_start [action server]",
- "uuid" : "798ca552-de5a-4555-ba41-5fe45c00dd56"
+ "to" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:/torso_front_camera/imu",
+ "uuid" : "0e8dee5d-ac4f-4d31-95cc-1ddd8fa9e8b0"
},
{
- "from" : "910781c7-928f-4445-a97b-6fbad208066f:torso_front_camera/infra*/*",
+ "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/tracked [hri_msgs/IdsList]",
"name" : "anonymous",
- "to" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:torso_front_camera/infra*/*",
- "uuid" : "035790a0-fdfb-4366-9e5a-b554595434a1"
+ "to" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:/humans/persons/tracked",
+ "uuid" : "ad7dd3e2-3743-4761-a1f7-2cbf3783df83"
},
{
- "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
+ "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/*/audio [audio_common_msgs/AudioData]",
"name" : "anonymous",
- "to" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
- "uuid" : "123fb873-eb2b-4fd6-a69a-029ee1f017b5"
+ "to" : "49998d33-7c64-4557-b1c9-56b241b59600:/h/v/*/audio [audio_common_msgs/AudioData]",
+ "uuid" : "69f97c03-347d-465f-9b4e-414ab5dda4c9"
},
{
- "from" : "2fb3e19c-7562-4c43-bd74-c043a5efec7c:/go_towards [GoTowards]",
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/go_towards [GoTowards]",
- "uuid" : "c609a59e-f951-488b-828f-91bb2326594c"
+ "to" : "b2cf0310-792d-4753-9e3d-243de1c81bbe:/controller_status [ControllerStatus]",
+ "uuid" : "68350299-f55a-46af-af4b-03e6415f2237"
},
{
- "from" : "b2cf0310-792d-4753-9e3d-243de1c81bbe:/go_towards [GoTowards]",
+ "from" : "c9b76975-8236-4440-8693-6756fef3990b:/humans/bodies/tracked [hri_msgs/IdsList]",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/go_towards [GoTowards]",
- "uuid" : "9662dbe9-6e01-4ec3-a983-80cb2e37efb8"
+ "to" : "172516ca-a279-42a7-b515-ba2257887296:/humans/bodies/tracked",
+ "uuid" : "806927e3-3932-4ade-a7ac-66aae1d77361"
},
{
- "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
+ "from" : "172516ca-a279-42a7-b515-ba2257887296:/humans/candidate_matches [hri_msgs/IdsMatch]",
"name" : "anonymous",
- "to" : "4d1289b0-8d15-4c6c-ba82-f4fb9c3f4f17:/controller_status [ControllerStatus]",
- "uuid" : "76e0492e-f642-4ebf-af53-3f86b5c457bb"
+ "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/humans/candidate_matches [hri_msgs/IdsMatch]",
+ "uuid" : "1831088f-50a4-402b-b940-ecdd59a82868"
},
{
- "from" : "910781c7-928f-4445-a97b-6fbad208066f:pointcloud",
+ "from" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3:/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]",
"name" : "anonymous",
- "to" : "3cf6f1fb-04b3-43fa-b320-b1eb1f81505f:torso pointcloud",
- "uuid" : "8d8132f3-0479-4741-b0f8-6ad7a71c04dc"
+ "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]",
+ "uuid" : "beeedb50-f5a6-4096-823d-5d07afadd4ab"
},
{
- "from" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/*_basestation/head_front_camera/... [sensor_msgs/Image]",
+ "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:/task*_ros_server_action [action]",
"name" : "anonymous",
- "to" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90:/*_basestation/head_front_camera/... [sensor_msgs/Image]",
- "uuid" : "f8d6f1f8-9f0b-4137-b4c7-a39aa29e08ff"
+ "to" : "35d5af59-53e3-466c-874d-89131352c403:/task*_ros_server_action [action]",
+ "uuid" : "4fbf5aeb-0cec-4f04-9fbf-20ecb50a6477"
},
{
- "from" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90:/humans/faces/tracked [hri_msgs/IdsList]",
+ "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/*/audio [audio_common_msgs/AudioData]",
"name" : "anonymous",
- "to" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/humans/faces/tracked [hri_msgs/IdsList]",
- "uuid" : "c438528e-06f3-4076-9fe4-0c8eb11ab08e"
+ "to" : "3ff4bbe5-0031-4fd1-af28-cd7bd92c0981:/h/v/*/audio [audio_common_msgs/AudioData]",
+ "uuid" : "ccad50ef-3df0-49e8-a543-ab6d00fe87fd"
},
{
- "from" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90:/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
+ "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/...",
"name" : "anonymous",
- "to" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
- "uuid" : "e04cabe4-e3e5-479d-b31b-5b185be0e4bc"
+ "to" : "8dc55dfc-0215-44a1-9795-9255c328b198:/h/p/...",
+ "uuid" : "25df8089-5bc4-4a4c-9e3a-44a008a58247"
},
{
"from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
"name" : "anonymous",
- "to" : "c0155b17-15f4-4d86-909b-433fe737cb5f:/controller_status [ControllerStatus]",
- "uuid" : "052e4cf3-0e82-4343-8e21-2ac86cd203c6"
+ "to" : "bf22a99b-3b6f-416c-b967-8b4df877a72e:/controller_status [ControllerStatus]",
+ "uuid" : "7b7abfe6-e4a2-4579-bc08-12e63f53f8f4"
},
{
- "from" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/*_basestation/fisheye/... [sensor_msgs/Image]",
+ "from" : "aa83a592-d631-44a2-bbaa-f812b8669bc7:/h/g/tracked [hri_msgs/IdList]",
"name" : "anonymous",
- "to" : "9f0e4a90-79fb-4f15-b769-f539dd6ccc71:/front_camera/fisheye/image_raw [sensor_msgs/Image]",
- "uuid" : "2a20f007-fa04-4242-85ee-a17b4805b502"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/h/g/tracked",
+ "uuid" : "a3ffd70f-2c63-4e9c-8a54-b7256faf5f00"
},
{
"from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/tracked [hri_msgs/IdsList]",
@@ -566,30 +602,6 @@
"to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/h/p/*/softbiometrics [hri_msgs/Softbiometrics]",
"uuid" : "9c3a70db-3bc2-46bb-9af3-2402bf296ceb"
},
- {
- "from" : "3ff4bbe5-0031-4fd1-af28-cd7bd92c0981:/h/v/*/speech [hri_msgs/LiveSpeech]",
- "name" : "anonymous",
- "to" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3:/h/v/*/speech [hri_msgs/LiveSpeech]",
- "uuid" : "9ddf2c8d-7d8c-4467-88f5-fc044f2e903f"
- },
- {
- "from" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90:/humans/faces/tracked [hri_msgs/IdsList]",
- "name" : "anonymous",
- "to" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/humans/faces/tracked [hri_msgs/IdsList]",
- "uuid" : "d71e2684-c6c3-4e46-ac60-90b10280bf77"
- },
- {
- "from" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/humans/candidate_matches [hri_msgs/IdsMatch] [face reco]",
- "name" : "anonymous",
- "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/humans/candidate_matches [hri_msgs/IdsMatch]",
- "uuid" : "eb962d9e-e647-488b-8b25-566fcf956758"
- },
- {
- "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/*/audio [audio_common_msgs/AudioData]",
- "name" : "anonymous",
- "to" : "3ff4bbe5-0031-4fd1-af28-cd7bd92c0981:/h/v/*/audio [audio_common_msgs/AudioData]",
- "uuid" : "ccad50ef-3df0-49e8-a543-ab6d00fe87fd"
- },
{
"from" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:/slam/occupancy_map [OccupancyGrid]",
"name" : "anonymous",
@@ -609,28 +621,28 @@
"uuid" : "06375299-1ca4-45db-9866-d73f5a7dda00"
},
{
- "from" : "c9b76975-8236-4440-8693-6756fef3990b:/humans/bodies/tracked [hri_msgs/IdsList]",
+ "from" : "63835655-4d0a-4d5a-9849-365826ee7738:/audio/speaker1/doa [std_msgs/Float32]",
"name" : "anonymous",
- "to" : "172516ca-a279-42a7-b515-ba2257887296:/humans/bodies/tracked",
- "uuid" : "806927e3-3932-4ade-a7ac-66aae1d77361"
+ "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/humans/voices/speaker1/doa [std_msgs/Float32]",
+ "uuid" : "2add0296-8bab-46b0-9763-4debfef27287"
},
{
- "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/...",
+ "from" : "3ff4bbe5-0031-4fd1-af28-cd7bd92c0981:/h/v/*/speech [hri_msgs/LiveSpeech]",
"name" : "anonymous",
- "to" : "8dc55dfc-0215-44a1-9795-9255c328b198:/h/p/...",
- "uuid" : "25df8089-5bc4-4a4c-9e3a-44a008a58247"
+ "to" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3:/h/v/*/speech [hri_msgs/LiveSpeech]",
+ "uuid" : "9ddf2c8d-7d8c-4467-88f5-fc044f2e903f"
},
{
- "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
+ "from" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90:/humans/faces/tracked [hri_msgs/IdsList]",
"name" : "anonymous",
- "to" : "bf22a99b-3b6f-416c-b967-8b4df877a72e:/controller_status [ControllerStatus]",
- "uuid" : "7b7abfe6-e4a2-4579-bc08-12e63f53f8f4"
+ "to" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/humans/faces/tracked [hri_msgs/IdsList]",
+ "uuid" : "d71e2684-c6c3-4e46-ac60-90b10280bf77"
},
{
- "from" : "aa83a592-d631-44a2-bbaa-f812b8669bc7:/h/g/tracked [hri_msgs/IdList]",
+ "from" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/humans/candidate_matches [hri_msgs/IdsMatch] [face reco]",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/h/g/tracked",
- "uuid" : "a3ffd70f-2c63-4e9c-8a54-b7256faf5f00"
+ "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/humans/candidate_matches [hri_msgs/IdsMatch]",
+ "uuid" : "eb962d9e-e647-488b-8b25-566fcf956758"
},
{
"from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/head_controller/command [JointTrajectory]",
@@ -641,26 +653,50 @@
{
"from" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90:/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
"name" : "anonymous",
- "to" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
- "uuid" : "9d1c7d46-8013-4520-b4b4-c1e4aecb1f23"
+ "to" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
+ "uuid" : "e04cabe4-e3e5-479d-b31b-5b185be0e4bc"
},
{
- "from" : "63835655-4d0a-4d5a-9849-365826ee7738:/audio/speaker2/doa [std_msgs/Float32]",
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
"name" : "anonymous",
- "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/humans/voices/speaker2/doa [std_msgs/Float32]",
- "uuid" : "3c4f14e2-cb5e-4303-896b-34dbea65c102"
+ "to" : "c0155b17-15f4-4d86-909b-433fe737cb5f:/controller_status [ControllerStatus]",
+ "uuid" : "052e4cf3-0e82-4343-8e21-2ac86cd203c6"
},
{
- "from" : "633be9cd-9f1b-4cdd-b708-a1edd3742842:/depth_estimation [sensor_msgs/Image]",
+ "from" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/*_basestation/fisheye/... [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "4fbd8427-4d9f-4087-9a30-e7df1c1f69e7:/depth_estimation [sensor_msgs/Image]",
- "uuid" : "4467cb9d-d3fe-465e-a25a-d1fbd0ccd936"
+ "to" : "9f0e4a90-79fb-4f15-b769-f539dd6ccc71:/front_camera/fisheye/image_raw [sensor_msgs/Image]",
+ "uuid" : "2a20f007-fa04-4242-85ee-a17b4805b502"
},
{
- "from" : "63835655-4d0a-4d5a-9849-365826ee7738:/audio/speaker1/doa [std_msgs/Float32]",
+ "from" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:/slam/occupancy_map [OccupancyGrid]",
"name" : "anonymous",
- "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/humans/voices/speaker1/doa [std_msgs/Float32]",
- "uuid" : "2add0296-8bab-46b0-9763-4debfef27287"
+ "to" : "b357b248-d5a8-445d-9c09-5c567d074966:/slam/occupancy_map [OccupancyGrid]",
+ "uuid" : "ec99c998-7fd1-4c29-89c1-4b8fa7e50d02"
+ },
+ {
+ "from" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90:/h/f/*/cropped [sensor_msg/Image]",
+ "name" : "anonymous",
+ "to" : "e9861836-caed-4c19-87e2-13ba1a380613:/h/f/*/cropped [sensor_msg/Image]",
+ "uuid" : "7d97ba46-a34a-45d0-9166-af338cf70944"
+ },
+ {
+ "from" : "c9b76975-8236-4440-8693-6756fef3990b:/humans/bodies/tracked [hri_msgs/IdsList]",
+ "name" : "anonymous",
+ "to" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/humans/bodies/tracked [hri_msgs/IdsList]",
+ "uuid" : "02c0b533-92ac-4444-9bc3-2f68adfd7e03"
+ },
+ {
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/navigation goals",
+ "name" : "anonymous",
+ "to" : "bf22a99b-3b6f-416c-b967-8b4df877a72e:goal",
+ "uuid" : "bbea410d-c31f-43f1-8d37-d7c753dbe7b9"
+ },
+ {
+ "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/raw_audio [audio_common_msgs/AudioData]",
+ "name" : "anonymous",
+ "to" : "63835655-4d0a-4d5a-9849-365826ee7738:/audio/raw_audio [audio_common_msgs/AudioData]",
+ "uuid" : "a9550dcf-8884-4f05-b2ab-8eb9f15f46ed"
},
{
"from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/nav_vel [Twist]",
@@ -705,34 +741,46 @@
"uuid" : "1b666d89-6a0a-46bb-9b96-72e8a7cbe369"
},
{
- "from" : "3cf6f1fb-04b3-43fa-b320-b1eb1f81505f:/slam/obstacle_map [OccupancyGrid]",
+ "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:/human_dialogue",
"name" : "anonymous",
- "to" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44:/slam/obstacle_map [OccupancyGrid]",
- "uuid" : "b7364a5a-ceb2-443c-af37-2a728c4230de"
+ "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/human_dialogue",
+ "uuid" : "8036c6aa-b132-4290-8c32-3981c2821af5"
},
{
- "from" : "9a5658f1-943d-4889-8e2a-0735ee5de159:/look_at [LookAt]",
+ "from" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:/joint_states",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/look_at [LookAt]",
- "uuid" : "90b73e40-c764-46c4-ac32-abcedc29a818"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/joint_states",
+ "uuid" : "cb850e08-5d3d-4203-8d02-68bfc617e623"
},
{
- "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/task*_ros_server_action [action]",
"name" : "anonymous",
- "to" : "9a5658f1-943d-4889-8e2a-0735ee5de159:/controller_status [ControllerStatus]",
- "uuid" : "42e3806c-f806-45e7-876c-098a97560980"
+ "to" : "35d5af59-53e3-466c-874d-89131352c403:/task*_ros_server_action [action]",
+ "uuid" : "5de637dd-a0af-400e-9345-b60cd05be80d"
},
{
- "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:/register_server [service]",
"name" : "anonymous",
- "to" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6:/controller_status [ControllerStatus]",
- "uuid" : "1ef0d26e-d2bf-4fd0-8551-48caf5caa422"
+ "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/register_server [service]",
+ "uuid" : "0979564c-6a2a-4599-a812-9b8645782d25"
},
{
- "from" : "5a0113b6-a999-4339-8e21-44f3b8b3d693:service: /kb/query",
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:/register_server [service]",
"name" : "anonymous",
- "to" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:kb",
- "uuid" : "e5fa5fa4-fb7f-4ea7-8a49-de1002a814d9"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/register_server [service]",
+ "uuid" : "1c3ae94e-0f58-4741-8d21-56a6991d1d79"
+ },
+ {
+ "from" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:/dialogue_say/text [String]",
+ "name" : "anonymous",
+ "to" : "d4763e1f-4652-42ee-ae51-b4f2447f4d9a:/dialogue_say/text [String]",
+ "uuid" : "6e685b46-4926-49bb-b6a2-98b2664430f0"
+ },
+ {
+ "from" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/*_basestation/head_front_camera/... [sensor_msgs/Image]",
+ "name" : "anonymous",
+ "to" : "49035386-4f22-41d7-a281-71dcc64592bc:/*_basestation/head_front_camera/... [sensor_msgs/Image]",
+ "uuid" : "a260422a-d515-4fb6-9760-9bd2e396d50b"
},
{
"from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/ego_audio [audio_common_msgs/AudioData]",
@@ -771,22 +819,16 @@
"uuid" : "c51a7cbe-137e-4b4a-b9a0-20eba4b459c1"
},
{
- "from" : "a1d01235-a287-4e67-900b-d0e446924e2a:output?",
- "name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:input",
- "uuid" : "e0c6d3fc-5ee7-4ca7-a0a9-cf3ace272ace"
- },
- {
- "from" : "f845ee2c-4cb3-4cae-bde9-8ac2ba692ee7:/dialogue_nlp/nlu [JSON String]",
+ "from" : "409d9526-77ed-4ee3-bae9-ab48381e0b28:/torso_front_camera/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/dialogue_nlp/nlu [JSON String]",
- "uuid" : "b580306a-877f-45cd-883c-caafbac903b0"
+ "to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/front_camera/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]",
+ "uuid" : "f1c595fc-8ada-4453-a680-6ed6bb448ffa"
},
{
- "from" : "910781c7-928f-4445-a97b-6fbad208066f:/torso_front_camera/color/image_raw [sensor_msgs/Image]",
+ "from" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/*_basestation/fisheye/... [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/torso_front_camera/color/image_raw/theora",
- "uuid" : "41b7678b-dcf8-429b-a17d-ffbe2f916995"
+ "to" : "c9b76975-8236-4440-8693-6756fef3990b:/front_camera/fisheye/image_raw [sensor_msgs/Image]",
+ "uuid" : "d6fc7848-5449-4fad-93e1-cbf2e8677750"
},
{
"from" : "63835655-4d0a-4d5a-9849-365826ee7738:/audio/speaker1/stream [audio_common_msgs/AudioData]",
@@ -801,64 +843,34 @@
"uuid" : "4a8ca862-079c-40e4-96a8-231cad8c087f"
},
{
- "from" : "2a909616-5a85-49b8-aafb-37daaa76d48c:/experiment_exporter/file_update [String]",
- "name" : "anonymous",
- "to" : "d4763e1f-4652-42ee-ae51-b4f2447f4d9a:/experiment_exporter/file_update [String]",
- "uuid" : "71002a47-5413-4c8b-9210-e987982437d8"
- },
- {
- "from" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:output?",
+ "from" : "a1d01235-a287-4e67-900b-d0e446924e2a:output?",
"name" : "anonymous",
"to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:input",
- "uuid" : "c6e06c4e-d9bb-44ca-927d-05258e028480"
+ "uuid" : "e0c6d3fc-5ee7-4ca7-a0a9-cf3ace272ace"
},
{
- "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/tracked [hri_msgs/IdsList]",
- "name" : "anonymous",
- "to" : "3ff4bbe5-0031-4fd1-af28-cd7bd92c0981:/h/v/tracked [hri_msgs/IdsList]",
- "uuid" : "0de9cdaa-12f8-47fb-b8b2-cf7fcd27b131"
- },
- {
- "from" : "9f0e4a90-79fb-4f15-b769-f539dd6ccc71:/h/b/*/skeleton2d [hri_msg/Skeleton2D]",
- "name" : "anonymous",
- "to" : "c9b76975-8236-4440-8693-6756fef3990b:/h/b/*/skeleton2d [hri_msg/Skeleton2D]",
- "uuid" : "e7fb301f-b3ec-424f-aa1f-a764731a9fb5"
- },
- {
- "from" : "409d9526-77ed-4ee3-bae9-ab48381e0b28:/torso_front_camera/color/image_raw [sensor_msgs/Image]",
- "name" : "anonymous",
- "to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/front_camera/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]",
- "uuid" : "f1c595fc-8ada-4453-a680-6ed6bb448ffa"
- },
- {
- "from" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/*_basestation/fisheye/... [sensor_msgs/Image]",
- "name" : "anonymous",
- "to" : "c9b76975-8236-4440-8693-6756fef3990b:/front_camera/fisheye/image_raw [sensor_msgs/Image]",
- "uuid" : "d6fc7848-5449-4fad-93e1-cbf2e8677750"
- },
- {
- "from" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:/joint_states",
+ "from" : "f845ee2c-4cb3-4cae-bde9-8ac2ba692ee7:/dialogue_nlp/nlu [JSON String]",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/joint_states",
- "uuid" : "cb850e08-5d3d-4203-8d02-68bfc617e623"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/dialogue_nlp/nlu [JSON String]",
+ "uuid" : "b580306a-877f-45cd-883c-caafbac903b0"
},
{
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/task*_ros_server_action [action]",
+ "from" : "910781c7-928f-4445-a97b-6fbad208066f:/torso_front_camera/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "35d5af59-53e3-466c-874d-89131352c403:/task*_ros_server_action [action]",
- "uuid" : "5de637dd-a0af-400e-9345-b60cd05be80d"
+ "to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/torso_front_camera/color/image_raw/theora",
+ "uuid" : "41b7678b-dcf8-429b-a17d-ffbe2f916995"
},
{
- "from" : "35d5af59-53e3-466c-874d-89131352c403:/register_server [service]",
+ "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/tracked [hri_msgs/IdsList]",
"name" : "anonymous",
- "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/register_server [service]",
- "uuid" : "0979564c-6a2a-4599-a812-9b8645782d25"
+ "to" : "3ff4bbe5-0031-4fd1-af28-cd7bd92c0981:/h/v/tracked [hri_msgs/IdsList]",
+ "uuid" : "0de9cdaa-12f8-47fb-b8b2-cf7fcd27b131"
},
{
- "from" : "35d5af59-53e3-466c-874d-89131352c403:/register_server [service]",
+ "from" : "9f0e4a90-79fb-4f15-b769-f539dd6ccc71:/h/b/*/skeleton2d [hri_msg/Skeleton2D]",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/register_server [service]",
- "uuid" : "1c3ae94e-0f58-4741-8d21-56a6991d1d79"
+ "to" : "c9b76975-8236-4440-8693-6756fef3990b:/h/b/*/skeleton2d [hri_msg/Skeleton2D]",
+ "uuid" : "e7fb301f-b3ec-424f-aa1f-a764731a9fb5"
},
{
"from" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90:/h/f/*/cropped [sensor_msg/Image]",
@@ -867,34 +879,34 @@
"uuid" : "33633a2c-04a4-42eb-949f-f8bdb137833c"
},
{
- "from" : "35d5af59-53e3-466c-874d-89131352c403:/updates",
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/interaction_manager/update [service]",
- "uuid" : "a74eee63-bd44-4275-ad4d-eb6431a34a31"
+ "to" : "4d1289b0-8d15-4c6c-ba82-f4fb9c3f4f17:/controller_status [ControllerStatus]",
+ "uuid" : "76e0492e-f642-4ebf-af53-3f86b5c457bb"
},
{
- "from" : "49035386-4f22-41d7-a281-71dcc64592bc:/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]",
+ "from" : "910781c7-928f-4445-a97b-6fbad208066f:pointcloud",
"name" : "anonymous",
- "to" : "d715b004-7177-4001-bd9d-725e87789c94:/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]",
- "uuid" : "db51bf6c-8e11-461a-8e4d-5f51abfb07b2"
+ "to" : "3cf6f1fb-04b3-43fa-b320-b1eb1f81505f:torso pointcloud",
+ "uuid" : "8d8132f3-0479-4741-b0f8-6ad7a71c04dc"
},
{
- "from" : "57c4f67f-9225-4bdc-9142-f9e92c2cada8:ROS service: pose + covariance",
+ "from" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/*_basestation/head_front_camera/... [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:[call HLoc to perform global localization]",
- "uuid" : "580f1af2-ca26-4839-9c78-54ade7c3d508"
+ "to" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90:/*_basestation/head_front_camera/... [sensor_msgs/Image]",
+ "uuid" : "f8d6f1f8-9f0b-4137-b4c7-a39aa29e08ff"
},
{
- "from" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:/dialogue_say/text [String]",
+ "from" : "2a909616-5a85-49b8-aafb-37daaa76d48c:/experiment_exporter/file_update [String]",
"name" : "anonymous",
- "to" : "d4763e1f-4652-42ee-ae51-b4f2447f4d9a:/dialogue_say/text [String]",
- "uuid" : "6e685b46-4926-49bb-b6a2-98b2664430f0"
+ "to" : "d4763e1f-4652-42ee-ae51-b4f2447f4d9a:/experiment_exporter/file_update [String]",
+ "uuid" : "71002a47-5413-4c8b-9210-e987982437d8"
},
{
- "from" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/*_basestation/head_front_camera/... [sensor_msgs/Image]",
+ "from" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:output?",
"name" : "anonymous",
- "to" : "49035386-4f22-41d7-a281-71dcc64592bc:/*_basestation/head_front_camera/... [sensor_msgs/Image]",
- "uuid" : "a260422a-d515-4fb6-9760-9bd2e396d50b"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:input",
+ "uuid" : "c6e06c4e-d9bb-44ca-927d-05258e028480"
},
{
"from" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/*_basestation/head_front_camera/... [sensor_msgs/Image]",
@@ -915,164 +927,194 @@
"uuid" : "d68ab13d-5adf-4b9a-aa8f-d805df483ebf"
},
{
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:/human_dialogue",
- "name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/human_dialogue",
- "uuid" : "8036c6aa-b132-4290-8c32-3981c2821af5"
- },
- {
- "from" : "172516ca-a279-42a7-b515-ba2257887296:/humans/candidate_matches [hri_msgs/IdsMatch]",
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/dialogue_start",
"name" : "anonymous",
- "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/humans/candidate_matches [hri_msgs/IdsMatch]",
- "uuid" : "1831088f-50a4-402b-b940-ecdd59a82868"
+ "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_start [action server]",
+ "uuid" : "798ca552-de5a-4555-ba41-5fe45c00dd56"
},
{
- "from" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3:/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]",
+ "from" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90:/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
"name" : "anonymous",
- "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]",
- "uuid" : "beeedb50-f5a6-4096-823d-5d07afadd4ab"
+ "to" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
+ "uuid" : "9d1c7d46-8013-4520-b4b4-c1e4aecb1f23"
},
{
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:/task*_ros_server_action [action]",
+ "from" : "63835655-4d0a-4d5a-9849-365826ee7738:/audio/speaker2/doa [std_msgs/Float32]",
"name" : "anonymous",
- "to" : "35d5af59-53e3-466c-874d-89131352c403:/task*_ros_server_action [action]",
- "uuid" : "4fbf5aeb-0cec-4f04-9fbf-20ecb50a6477"
+ "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/humans/voices/speaker2/doa [std_msgs/Float32]",
+ "uuid" : "3c4f14e2-cb5e-4303-896b-34dbea65c102"
},
{
- "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/raw_audio [audio_common_msgs/AudioData]",
+ "from" : "633be9cd-9f1b-4cdd-b708-a1edd3742842:/depth_estimation [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "63835655-4d0a-4d5a-9849-365826ee7738:/audio/raw_audio [audio_common_msgs/AudioData]",
- "uuid" : "a9550dcf-8884-4f05-b2ab-8eb9f15f46ed"
+ "to" : "4fbd8427-4d9f-4087-9a30-e7df1c1f69e7:/depth_estimation [sensor_msgs/Image]",
+ "uuid" : "4467cb9d-d3fe-465e-a25a-d1fbd0ccd936"
},
{
- "from" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:/slam/occupancy_map [OccupancyGrid]",
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/navigation goals",
"name" : "anonymous",
- "to" : "b357b248-d5a8-445d-9c09-5c567d074966:/slam/occupancy_map [OccupancyGrid]",
- "uuid" : "ec99c998-7fd1-4c29-89c1-4b8fa7e50d02"
+ "to" : "2fb3e19c-7562-4c43-bd74-c043a5efec7c:goal",
+ "uuid" : "4f26cca8-7e89-4e50-afad-6039844c7466"
},
{
- "from" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90:/h/f/*/cropped [sensor_msg/Image]",
+ "from" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6:/navigate [Navigate]",
"name" : "anonymous",
- "to" : "e9861836-caed-4c19-87e2-13ba1a380613:/h/f/*/cropped [sensor_msg/Image]",
- "uuid" : "7d97ba46-a34a-45d0-9166-af338cf70944"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/navigate [Navigate]",
+ "uuid" : "f079a4f9-9fbb-44bc-8f51-24e96f94d674"
},
{
- "from" : "c9b76975-8236-4440-8693-6756fef3990b:/humans/bodies/tracked [hri_msgs/IdsList]",
+ "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/head_front_camera/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/humans/bodies/tracked [hri_msgs/IdsList]",
- "uuid" : "02c0b533-92ac-4444-9bc3-2f68adfd7e03"
+ "to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/head_front_camera/color/image_raw/compressed",
+ "uuid" : "1fb9d2e7-103a-4355-b2a9-dc3debc7be30"
},
{
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/navigation goals",
+ "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:tf: /voice_*",
"name" : "anonymous",
- "to" : "bf22a99b-3b6f-416c-b967-8b4df877a72e:goal",
- "uuid" : "bbea410d-c31f-43f1-8d37-d7c753dbe7b9"
+ "to" : "172516ca-a279-42a7-b515-ba2257887296:tf: /voice_*",
+ "uuid" : "57f369c0-8b58-4ae7-a8dd-0d07c55017c0"
},
{
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/navigation goals",
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
"name" : "anonymous",
- "to" : "2fb3e19c-7562-4c43-bd74-c043a5efec7c:goal",
- "uuid" : "4f26cca8-7e89-4e50-afad-6039844c7466"
+ "to" : "2fb3e19c-7562-4c43-bd74-c043a5efec7c:/controller_status [ControllerStatus]",
+ "uuid" : "bfa3a196-7137-43ea-bc20-a2715f466c68"
},
{
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/look_at goals",
+ "from" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90:/humans/faces/tracked [hri_msgs/IdsList]",
"name" : "anonymous",
- "to" : "9a5658f1-943d-4889-8e2a-0735ee5de159:goal",
- "uuid" : "4ba10f1b-81be-46c5-8c9f-4071448fce1a"
+ "to" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/humans/faces/tracked [hri_msgs/IdsList]",
+ "uuid" : "c438528e-06f3-4076-9fe4-0c8eb11ab08e"
},
{
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/look_at goals",
+ "from" : "910781c7-928f-4445-a97b-6fbad208066f:torso_front_camera/infra*/*",
"name" : "anonymous",
- "to" : "4d1289b0-8d15-4c6c-ba82-f4fb9c3f4f17:goal",
- "uuid" : "ee13926e-e8a8-4dfb-a4c2-25cff58d2f0e"
+ "to" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:torso_front_camera/infra*/*",
+ "uuid" : "035790a0-fdfb-4366-9e5a-b554595434a1"
},
{
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/look_at goals",
+ "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
"name" : "anonymous",
- "to" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6:goal",
- "uuid" : "782a3dc0-ab15-46fd-b807-47205e93b52c"
+ "to" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
+ "uuid" : "123fb873-eb2b-4fd6-a69a-029ee1f017b5"
},
{
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/navigation goals",
+ "from" : "2fb3e19c-7562-4c43-bd74-c043a5efec7c:/go_towards [GoTowards]",
"name" : "anonymous",
- "to" : "b2cf0310-792d-4753-9e3d-243de1c81bbe:goal",
- "uuid" : "0dc8a6db-327c-4d2d-9cbf-21d2463b0299"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/go_towards [GoTowards]",
+ "uuid" : "c609a59e-f951-488b-828f-91bb2326594c"
},
{
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/navigation goals",
+ "from" : "b2cf0310-792d-4753-9e3d-243de1c81bbe:/go_towards [GoTowards]",
"name" : "anonymous",
- "to" : "c0155b17-15f4-4d86-909b-433fe737cb5f:goal",
- "uuid" : "f209f60a-c45d-4653-bf06-3427432f6cbf"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/go_towards [GoTowards]",
+ "uuid" : "9662dbe9-6e01-4ec3-a983-80cb2e37efb8"
}
],
"description" : "EU H2020 SPRING -- D7.4: Mature Software Architecture",
"name" : "SPRING architecture",
"nodes" : [
{
- "label" : "HWU",
- "name" : "interaction_manager",
+ "label" : "INRIA",
+ "name" : "body_to_face_mapper",
"ports" : [
{
- "direction" : "out",
- "name" : "/navigation goals"
+ "direction" : "in",
+ "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/humans/bodies/tracked [hri_msgs/IdsList]"
},
{
"direction" : "out",
- "name" : "/dialogue_start"
+ "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
},
{
"direction" : "in",
- "name" : "/dialogue_nlp/nlu [JSON String]"
+ "name" : "/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
+ }
+ ],
+ "position" : [ 3400, 1940 ],
+ "size" : [ 420, 200 ],
+ "sub_architecture" : "4bd1bc1e-a5e1-4db9-9f83-e80c15e56e08",
+ "uuid" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8"
+ },
+ {
+ "label" : "INRIA",
+ "name" : "group_detector",
+ "ports" : [
+ {
+ "direction" : "out",
+ "name" : "/h/g/*/members [hri_msgs/IdList]"
},
{
"direction" : "out",
- "name" : "/look_at goals"
+ "name" : "/h/g/tracked [hri_msgs/IdList]"
},
{
- "direction" : "in",
- "name" : "/interaction_manager/update [service]"
+ "direction" : "out",
+ "name" : "tf: /group_*"
},
{
"direction" : "in",
- "name" : "/interaction_manager/query [service]"
+ "name" : "/h/p/tracked"
},
{
"direction" : "in",
- "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
- },
+ "name" : "tf: /person_*"
+ }
+ ],
+ "position" : [ 4400, 2800 ],
+ "size" : [ 380, 200 ],
+ "sub_architecture" : "ac9968c7-7626-4459-a7b3-ccbfaaac682c",
+ "uuid" : "aa83a592-d631-44a2-bbaa-f812b8669bc7"
+ },
+ {
+ "label" : "HWU",
+ "name" : "recipe_planner",
+ "ports" : [
{
"direction" : "out",
- "name" : "gestures"
+ "name" : "/queries"
},
{
- "direction" : "in",
- "name" : "input"
+ "direction" : "out",
+ "name" : "/updates"
},
{
"direction" : "out",
- "name" : "/task*_ros_server_action [action]"
+ "name" : "/RPN [action]"
},
{
"direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
+ "name" : "semantic scene description"
+ },
+ {
+ "direction" : "out",
+ "name" : "/register_server [service]"
},
{
"direction" : "in",
- "name" : "TF"
+ "name" : "/task*_ros_server_action [action]"
},
{
"direction" : "in",
- "name" : "semantic scene description [ON HOLD]"
+ "name" : "PDDL yaml library"
},
{
"direction" : "in",
- "name" : "/register_server [service]"
+ "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
}
],
- "position" : [ 6020, 2120 ],
- "size" : [ 400, 760 ],
- "sub_architecture" : "b87a23ac-d223-4bac-b438-0b16e6e55270",
- "uuid" : "bc526a14-c5aa-466e-ba5b-30a78b14d672"
+ "position" : [ 6020, 1540 ],
+ "size" : [ 400, 293 ],
+ "sub_architecture" : "9ff15583-a3c7-439b-a578-91ea4afac364",
+ "uuid" : "35d5af59-53e3-466c-874d-89131352c403"
},
{
"label" : "UNITN",
@@ -1093,457 +1135,479 @@
"uuid" : "e9861836-caed-4c19-87e2-13ba1a380613"
},
{
- "label" : "INRIA",
- "name" : "body_3d_tracker",
+ "label" : "CVUT",
+ "name" : "MOCK: Yolact3D",
"ports" : [
{
"direction" : "in",
- "name" : "/tracker/tracker_output [std_msgs/String]"
+ "name" : "/slam/occupancy_map [OccupancyGrid]"
},
{
"direction" : "out",
- "name" : "tf: /body_*"
+ "name" : "/yolact3d/detected_objects_distribution [yolact3d/Yolact3DObjects]"
},
{
"direction" : "in",
- "name" : "/h/b/*/skeleton2d [hri_msg/Skeleton2D]"
+ "name" : "tf"
},
{
- "direction" : "out",
- "name" : "/humans/bodies/tracked [hri_msgs/IdsList]"
+ "direction" : "in",
+ "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
},
{
"direction" : "in",
- "name" : "/front_camera/fisheye/image_raw [sensor_msgs/Image]"
+ "name" : "/torso_front_camera/aligned_depth_to_color [sensor_msgs/Image"
}
],
- "position" : [ 2860, 1660 ],
- "size" : [ 460, 200 ],
- "sub_architecture" : "f6ab2c5c-5c73-439c-9342-fb1bbb24b1da",
- "uuid" : "c9b76975-8236-4440-8693-6756fef3990b"
- },
- {
- "label" : "PAL",
- "name" : "DEPENDENCY: spring_msgs",
- "position" : [ 6600, 3940 ],
- "size" : [ 240, 120 ],
- "sub_architecture" : "754b3165-805d-469a-b604-4dfef5453911",
- "uuid" : "2e89a11f-a4b0-4b5e-8d72-975d8c47c7f7"
+ "position" : [ 3780, 3580 ],
+ "size" : [ 520, 240 ],
+ "sub_architecture" : "cc914ac9-9aa0-4b00-8328-f9378e229ae9",
+ "uuid" : "b357b248-d5a8-445d-9c09-5c567d074966"
},
{
- "label" : "INRIA",
- "name" : "go_to_person_action_server",
+ "label" : "UNITN",
+ "name" : "face_tracker",
"ports" : [
+ {
+ "direction" : "out",
+ "name" : "/h/f/*/cropped [sensor_msg/Image]"
+ },
{
"direction" : "in",
- "name" : "goal"
+ "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
},
{
"direction" : "out",
- "name" : "/go_towards [GoTowards]"
+ "name" : "/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
},
{
- "direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
+ "direction" : "out",
+ "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
}
],
- "position" : [ 7100, 2340 ],
- "size" : [ 271.4375, 138 ],
- "sub_architecture" : "8877ac09-dcf3-4f4b-9462-d7948759a3a3",
- "uuid" : "bf22a99b-3b6f-416c-b967-8b4df877a72e"
+ "position" : [ 1920, 2300 ],
+ "size" : [ 427, 231 ],
+ "sub_architecture" : "6984e32b-7df5-4466-9553-c24967deef2f",
+ "uuid" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90"
},
{
- "label" : "INRIA",
- "name" : "basestation_republisher",
+ "label" : "HWU",
+ "name" : "DEPENDENCY: audio_msgs",
+ "position" : [ 8220, 3940 ],
+ "size" : [ 340, 120 ],
+ "sub_architecture" : "88aec3fc-6d19-455e-96fc-303c6aaab831",
+ "uuid" : "19d263e5-e380-457f-84ba-67b9a4b3ce0b"
+ },
+ {
+ "label" : "PAL",
+ "name" : "hri_person_manager",
"ports" : [
{
- "direction" : "in",
- "name" : "/torso_front_camera/aligned_depth_to_color/image_raw/theora"
+ "direction" : "out",
+ "name" : "/h/p/..."
+ },
+ {
+ "direction" : "out",
+ "name" : "/h/p/tracked [hri_msgs/IdsList]"
},
{
"direction" : "in",
- "name" : "/front_camera/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]"
+ "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
},
{
"direction" : "out",
- "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
+ "name" : "tf: /person_*"
+ }
+ ],
+ "position" : [ 4080, 2080 ],
+ "size" : [ 360, 380 ],
+ "sub_architecture" : "1f5e18f3-1be0-4e21-a3e1-439a597fe002",
+ "uuid" : "43da963c-18a8-4ad7-86f6-f361a9d25d36"
+ },
+ {
+ "label" : "ERM",
+ "name" : "experiment_exporter",
+ "ports" : [
+ {
+ "direction" : "in",
+ "name" : "/experiment_exporter/file_update [String]"
},
{
- "direction" : "out",
- "name" : "/*_basestation/fisheye/... [sensor_msgs/Image]"
+ "direction" : "in",
+ "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
},
{
"direction" : "in",
- "name" : "/torso_front_camera/color/image_raw/theora"
+ "name" : "/experiment_exporter/error_feedback [String]"
},
{
"direction" : "in",
- "name" : "/head_front_camera/color/image_raw/compressed"
+ "name" : "/dialogue_say/text [String]"
}
],
- "position" : [ 700, 2200 ],
- "size" : [ 580, 260 ],
- "sub_architecture" : "4b6bafeb-e303-4f6b-a7db-cfa8b1fc5a23",
- "uuid" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3"
+ "position" : [ 7780, 960 ],
+ "size" : [ 456, 293 ],
+ "sub_architecture" : "923f34e5-2023-4f02-985d-3e7f472b861f",
+ "uuid" : "d4763e1f-4652-42ee-ae51-b4f2447f4d9a"
},
{
- "label" : "BIU",
- "name" : "speaker_separation",
+ "label" : "PAL",
+ "name" : "Robot functional layer",
"ports" : [
{
"direction" : "out",
- "name" : "/audio/speaker2/doa [std_msgs/Float32]"
+ "name" : "/joint_states"
},
{
"direction" : "in",
- "name" : "/audio/raw_audio [audio_common_msgs/AudioData]"
- },
+ "name" : "input"
+ }
+ ],
+ "position" : [ 8440, 2300 ],
+ "size" : [ 240, 520 ],
+ "sub_architecture" : "69547d1d-f0ba-4ebf-b19b-f8cc5e63fd36",
+ "uuid" : "20eb61ac-3243-41ed-b855-451cd88e4ae5"
+ },
+ {
+ "label" : "UNITN",
+ "name" : "depth_estimation",
+ "ports" : [
{
"direction" : "out",
- "name" : "/audio/speaker1/doa [std_msgs/Float32]"
+ "name" : "/depth_estimation [sensor_msgs/Image]"
},
{
- "direction" : "out",
- "name" : "/audio/speaker1/stream [audio_common_msgs/AudioData]"
+ "direction" : "in",
+ "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
+ }
+ ],
+ "position" : [ 1940, 2980 ],
+ "size" : [ 460, 140 ],
+ "sub_architecture" : "bc0aa7fa-7aef-44a0-8cd1-48e4a3e87e7b",
+ "uuid" : "633be9cd-9f1b-4cdd-b708-a1edd3742842"
+ },
+ {
+ "label" : "INRIA",
+ "name" : "look_at_person_server",
+ "ports" : [
+ {
+ "direction" : "in",
+ "name" : "goal"
},
{
"direction" : "out",
- "name" : "/audio/speaker2/stream [audio_common_msgs/AudioData]"
+ "name" : "/look_at [LookAt]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/controller_status [ControllerStatus]"
}
],
- "position" : [ 2380, 320 ],
- "size" : [ 600, 440 ],
- "sub_architecture" : "ded25e98-4132-4678-bef7-5d0945fdaf78",
- "uuid" : "63835655-4d0a-4d5a-9849-365826ee7738"
+ "position" : [ 7100, 2820 ],
+ "size" : [ 271, 138 ],
+ "sub_architecture" : "28912232-55a1-48ad-bb37-c99b7f1ad079",
+ "uuid" : "9a5658f1-943d-4889-8e2a-0735ee5de159"
+ },
+ {
+ "label" : "HWU",
+ "name" : "DEPENDENCY: robot_behaviour_msgs",
+ "position" : [ 7560, 3940 ],
+ "size" : [ 300, 120 ],
+ "sub_architecture" : "9d93f431-05b6-4ee4-88ea-8bb60a01611f",
+ "uuid" : "ef2aa285-f20c-40de-a0fe-b4bb37a9ee8a"
},
{
"label" : "INRIA",
"name" : "go_to_body_action_server",
"ports" : [
- {
- "direction" : "out",
- "name" : "/go_towards [GoTowards]"
- },
{
"direction" : "in",
"name" : "goal"
},
+ {
+ "direction" : "out",
+ "name" : "/go_towards [GoTowards]"
+ },
{
"direction" : "in",
"name" : "/controller_status [ControllerStatus]"
}
],
"position" : [ 7100, 2180 ],
- "size" : [ 271.4375, 138 ],
+ "size" : [ 271, 138 ],
"sub_architecture" : "afd60208-b9e3-47d6-91db-ff98641995c4",
"uuid" : "2fb3e19c-7562-4c43-bd74-c043a5efec7c"
},
{
"label" : "INRIA",
- "name" : "behavior_generator",
+ "name" : "look_at_action_server",
"ports" : [
{
"direction" : "in",
- "name" : "/h/b/tracked"
+ "name" : "goal"
},
{
"direction" : "out",
- "name" : "/head_controller/command [JointTrajectory]"
+ "name" : "/look_at [LookAt]"
},
{
"direction" : "in",
- "name" : "/h/p/tracked"
- },
+ "name" : "/controller_status [ControllerStatus]"
+ }
+ ],
+ "position" : [ 7100, 2980 ],
+ "size" : [ 271, 138 ],
+ "sub_architecture" : "a5174b81-fea1-4d89-bfe5-7c909fcb134f",
+ "uuid" : "4d1289b0-8d15-4c6c-ba82-f4fb9c3f4f17"
+ },
+ {
+ "label" : "PAL",
+ "name" : "torso_rgbd_camera",
+ "ports" : [
{
- "direction" : "in",
- "name" : "/look_at [LookAt]"
+ "direction" : "out",
+ "name" : "pointcloud"
},
{
- "direction" : "in",
- "name" : "/go_towards [GoTowards]"
+ "direction" : "out",
+ "name" : "torso_front_camera/infra*/*"
},
{
"direction" : "out",
- "name" : "/controller_status"
+ "name" : "/torso_front_camera/imu"
},
{
- "direction" : "in",
- "name" : "tf: /body_*"
- },
+ "direction" : "out",
+ "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
+ }
+ ],
+ "position" : [ 40, 2400 ],
+ "size" : [ 432, 169 ],
+ "sub_architecture" : "0ccd4f8f-abe0-4eae-9d35-d6af509364eb",
+ "uuid" : "910781c7-928f-4445-a97b-6fbad208066f"
+ },
+ {
+ "label" : "BIU",
+ "name" : "riva_asr_0",
+ "ports" : [
{
"direction" : "in",
- "name" : "tf: /person_*"
+ "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
},
{
"direction" : "in",
- "name" : "/navigate [Navigate]"
+ "name" : "/h/v/tracked [hri_msgs/IdsList]"
},
{
- "direction" : "in",
- "name" : "/slam/local_map [OccupancyGrid]"
- },
+ "direction" : "out",
+ "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
+ }
+ ],
+ "position" : [ 4140, 400 ],
+ "size" : [ 540, 169 ],
+ "sub_architecture" : "11d2ee50-fd1e-4664-be3b-1a250ec7d758",
+ "uuid" : "49998d33-7c64-4557-b1c9-56b241b59600"
+ },
+ {
+ "label" : "BIU",
+ "name" : "MOCK: speaker_extraction",
+ "ports" : [
{
"direction" : "out",
- "name" : "tf: /final_point /nav_goal... "
+ "name" : "/audio/stream* [audio_common_msgs/AudioData]"
},
{
"direction" : "in",
- "name" : "/h/g/tracked"
+ "name" : "database of voice embeddings"
},
{
"direction" : "out",
- "name" : "/nav_vel [Twist]"
- },
- {
- "direction" : "in",
- "name" : "/joint_states"
+ "name" : "/audio/doa* [std_msgs/Float32]"
},
{
"direction" : "in",
- "name" : "tf: /group_*"
+ "name" : "/audio/raw_audio [audio_common_msgs/AudioData]"
}
],
- "position" : [ 7720, 2300 ],
- "size" : [ 580, 520 ],
- "sub_architecture" : "d5ec9783-4c4f-4652-a8bd-b786a1905f48",
- "uuid" : "328fd73c-ead7-4b87-a815-401958fa77a2"
+ "position" : [ 2380, 800 ],
+ "size" : [ 1440, 180 ],
+ "sub_architecture" : "9a662d15-0e9a-4d34-bf73-ab087206578f",
+ "uuid" : "7439ab30-129c-4f3a-9886-149ba213c18c"
},
{
"label" : "HWU",
- "name" : "dialogue_say",
+ "name" : "social_strategy_supervisor",
"ports" : [
- {
- "direction" : "in",
- "name" : "/dialogue_say/say [service]"
- },
- {
- "direction" : "out",
- "name" : "/tts/feedback"
- },
{
"direction" : "out",
- "name" : "/dialogue_say/text [String]"
+ "name" : "output?"
}
],
- "position" : [ 6600, 1240 ],
- "size" : [ 280, 169 ],
- "sub_architecture" : "c854e5a0-2dbe-4eee-a79b-723d08083339",
- "uuid" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104"
+ "position" : [ 5560, 2520 ],
+ "size" : [ 200, 120 ],
+ "sub_architecture" : "02a6c7d9-b0e8-4b4c-a838-56a4990ca96c",
+ "uuid" : "a1d01235-a287-4e67-900b-d0e446924e2a"
},
{
- "label" : "BIU",
- "name" : "audio_processing_mode",
+ "label" : "ERM",
+ "name" : "exp_gui",
"ports" : [
{
"direction" : "out",
- "name" : "/audio/enh_audio [spring_msgs/RawAudioData]"
+ "name" : "/dialogue_start/goal [dialogue_msgs/StartDialogueActionGoal] "
},
{
"direction" : "in",
- "name" : "/audio/raw_audio [spring_msgs/RawAudioData]"
- }
- ],
- "position" : [ 2380, 20 ],
- "size" : [ 580, 260 ],
- "sub_architecture" : "703291ee-d2c9-4f3c-a94c-fb6030dd783e",
- "uuid" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3"
- },
- {
- "label" : "HWU",
- "name" : "DEPENDENCY: social_scene_msgs",
- "position" : [ 7900, 3940 ],
- "size" : [ 280, 120 ],
- "sub_architecture" : "ed680a03-e715-423d-b567-001b19ca4840",
- "uuid" : "fdf1f034-d96a-4852-bb69-3934073e6708"
- },
- {
- "label" : "HWU",
- "name" : "DEPENDENCY: interaction_manager_msgs",
- "position" : [ 7180, 3940 ],
- "size" : [ 340, 120 ],
- "sub_architecture" : "269a1164-ad2d-488c-9b86-b4256faddf9f",
- "uuid" : "e4ad4076-7fa2-496d-b8ce-0d2c43eca484"
- },
- {
- "label" : "BIU",
- "name" : "riva_asr_0",
- "ports" : [
- {
- "direction" : "in",
- "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
+ "name" : "/dialogue_start/status"
},
{
- "direction" : "in",
- "name" : "/h/v/tracked [hri_msgs/IdsList]"
+ "direction" : "out",
+ "name" : "/experiment_exporter/error_feedback [String]"
},
{
"direction" : "out",
- "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
- }
- ],
- "position" : [ 4140, 400 ],
- "size" : [ 540, 169 ],
- "sub_architecture" : "11d2ee50-fd1e-4664-be3b-1a250ec7d758",
- "uuid" : "49998d33-7c64-4557-b1c9-56b241b59600"
- },
- {
- "label" : "UNITN",
- "name" : "gaze_estimation",
- "ports" : [
+ "name" : "/experiment_exporter/file_update [String]"
+ },
{
"direction" : "in",
- "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
+ "name" : "/diagnostics"
},
{
"direction" : "out",
- "name" : "GazeFrame [2D point in rgb frame]"
+ "name" : "/dialogue_arbiter/reset [Empty]"
},
{
- "direction" : "in",
- "name" : "/depth_estimation [sensor_msgs/Image]"
+ "direction" : "out",
+ "name" : "/interaction_manager/start [Empty]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/web/go_to [pal_web_msgs/WebGoTo]"
},
{
"direction" : "in",
- "name" : "/h/f/*/roi [sensor_msgs/RegionOfInterest]"
+ "name" : "/slam/localization_pose"
}
],
- "position" : [ 2740, 3000 ],
- "size" : [ 600, 169 ],
- "sub_architecture" : "2acb3f97-e06f-4e94-a48f-a3e140ad55fb",
- "uuid" : "4fbd8427-4d9f-4087-9a30-e7df1c1f69e7"
+ "position" : [ 7040, 620 ],
+ "size" : [ 580, 324 ],
+ "sub_architecture" : "68debd5e-9e7a-486c-a58e-d553009e0cb3",
+ "uuid" : "2a909616-5a85-49b8-aafb-37daaa76d48c"
},
{
- "label" : "ERM",
- "name" : "robot gui",
+ "label" : "HWU",
+ "name" : "dialogue_arbitrer",
"ports" : [
+ {
+ "direction" : "out",
+ "name" : "/human_dialogue"
+ },
{
"direction" : "in",
- "name" : "/dialogue_say/text"
+ "name" : "/dialogue_arbitrer/update [service]"
},
{
"direction" : "in",
- "name" : "/audio/is_listening"
+ "name" : "/dialogue_start [action server]"
},
{
"direction" : "in",
- "name" : "/tts/feedback"
+ "name" : "/dialogue_arbitrer/query [service]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/task*_ros_server_action [action]"
},
{
"direction" : "in",
- "name" : "/human_dialogue"
- }
- ],
- "position" : [ 7760, 1340 ],
- "size" : [ 440, 220 ],
- "sub_architecture" : "8a919bc7-c80b-4325-ac63-d04f2fc1d6bb",
- "uuid" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d"
- },
- {
- "label" : "HWU",
- "name" : "ros_petri_net_node",
- "ports" : [
+ "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
+ },
{
"direction" : "in",
- "name" : "/RPN [action server]"
+ "name" : "/register_server [service]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/get_answer [service]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/dialogue_say/say [service]"
}
],
- "position" : [ 6600, 1660 ],
- "size" : [ 280, 120 ],
- "sub_architecture" : "d08a0f04-1e8d-4aa1-b71a-b3bf4597d4e2",
- "uuid" : "ed36231e-fb0f-45d5-8770-6f8c613f8ca4"
- },
- {
- "label" : "PAL",
- "name" : "DEPENDENCY: hri_msgs",
- "position" : [ 6280, 3940 ],
- "size" : [ 280, 120 ],
- "sub_architecture" : "7590c224-e846-4f1c-9ecb-0a2992568089",
- "uuid" : "b5076968-861b-43cb-8bd8-35a5fefebfe4"
+ "position" : [ 6020, 1180 ],
+ "size" : [ 400, 340 ],
+ "sub_architecture" : "e2ee44b3-4f04-4a27-a947-525fae05035d",
+ "uuid" : "9ab39362-e233-44d2-9d06-dd24694446f2"
},
{
"label" : "UNITN",
- "name" : "soft_biometrics_estimator",
+ "name" : "MOCK: activity_recognition",
"ports" : [
- {
- "direction" : "out",
- "name" : "/humans/candidate_matches [hri_msgs/IdsMatch] [face reco]"
- },
- {
- "direction" : "out",
- "name" : "/h/f/*/softbiometrics [hri_msgs/SoftBiometrics]"
- },
- {
- "direction" : "in",
- "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
- },
{
"direction" : "in",
- "name" : "/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
+ "name" : "/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]"
},
{
- "direction" : "in",
- "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
+ "direction" : "out",
+ "name" : "[?] output to be defined + added to hri_msgs if possible"
}
],
- "position" : [ 2740, 2240 ],
- "size" : [ 601, 200 ],
- "sub_architecture" : "970d1105-d292-4308-b90f-8d8005a781eb",
- "uuid" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e"
+ "position" : [ 3500, 2720 ],
+ "size" : [ 520, 160 ],
+ "sub_architecture" : "96cd31ae-5485-40db-8b27-b5a09888f810",
+ "uuid" : "d715b004-7177-4001-bd9d-725e87789c94"
},
{
"label" : "INRIA",
- "name" : "occupancy_map_republisher",
+ "name" : "pointcloud2occmap",
"ports" : [
{
"direction" : "in",
- "name" : "/slam/occupancy_map [OccupancyGrid]"
+ "name" : "torso pointcloud"
},
{
"direction" : "out",
- "name" : "/slam/local_map [OccupancyGrid]"
- },
- {
- "direction" : "in",
"name" : "/slam/obstacle_map [OccupancyGrid]"
}
],
- "position" : [ 3780, 3280 ],
+ "position" : [ 2200, 3280 ],
"size" : [ 440, 138 ],
- "uuid" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44"
+ "uuid" : "3cf6f1fb-04b3-43fa-b320-b1eb1f81505f"
},
{
- "label" : "INRIA",
- "name" : "go_to_group_action_server",
+ "label" : "HWU",
+ "name" : "social_state_analyzer",
"ports" : [
{
- "direction" : "in",
- "name" : "goal"
+ "direction" : "out",
+ "name" : "output?"
},
{
- "direction" : "out",
- "name" : "/go_towards [GoTowards]"
+ "direction" : "in",
+ "name" : "/humans/persons/tracked"
},
{
"direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
+ "name" : "kb"
}
],
- "position" : [ 7100, 2020 ],
- "size" : [ 271.4375, 138 ],
- "sub_architecture" : "90d17edc-f200-49f6-adad-5100466d6703",
- "uuid" : "c0155b17-15f4-4d86-909b-433fe737cb5f"
+ "position" : [ 5560, 2340 ],
+ "size" : [ 199, 138 ],
+ "sub_architecture" : "4f0b2a37-97ff-46ee-aff2-77001218ba31",
+ "uuid" : "3dc083e8-26cc-448f-ae1e-25263c9f066f"
},
{
"label" : "UNITN",
"name" : "mask_detector",
"ports" : [
- {
- "direction" : "in",
- "name" : "/h/f/*/cropped [sensor_msg/Image]"
- },
{
"direction" : "out",
"name" : "/h/f/*/has_mask [wp4_msgs/FaceMask]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/h/f/*/cropped [sensor_msg/Image]"
}
],
"position" : [ 2740, 2460 ],
@@ -1553,230 +1617,290 @@
},
{
"label" : "INRIA",
- "name" : "pointcloud2occmap",
+ "name" : "front_fisheye_2d_body_pose_detector",
"ports" : [
+ {
+ "direction" : "out",
+ "name" : "/h/b/*/skeleton2d [hri_msg/Skeleton2D]"
+ },
{
"direction" : "in",
- "name" : "torso pointcloud"
+ "name" : "/tracker/tracker_output [std_msgs/String]"
},
{
- "direction" : "out",
- "name" : "/slam/obstacle_map [OccupancyGrid]"
+ "direction" : "in",
+ "name" : "/front_camera/fisheye/image_raw [sensor_msgs/Image]"
}
],
- "position" : [ 2200, 3280 ],
- "size" : [ 440, 138 ],
- "uuid" : "3cf6f1fb-04b3-43fa-b320-b1eb1f81505f"
+ "position" : [ 2260, 1420 ],
+ "size" : [ 480, 140 ],
+ "sub_architecture" : "f15ca40a-1ed5-416f-8467-d1551bf43797",
+ "uuid" : "9f0e4a90-79fb-4f15-b769-f539dd6ccc71"
},
{
- "label" : "HWU",
- "name" : "dialogue_nlp",
+ "label" : "PAL",
+ "name" : "respeaker_ros",
"ports" : [
{
- "direction" : "in",
- "name" : "/get_answer [service]"
+ "direction" : "out",
+ "name" : "/audio/raw_audio [audio_common_msgs/AudioData]"
},
{
"direction" : "out",
- "name" : "/dialogue_nlp/nlu [JSON String]"
+ "name" : "/audio/ego_audio [audio_common_msgs/AudioData]"
}
],
- "position" : [ 6600, 1480 ],
- "size" : [ 280, 120 ],
- "sub_architecture" : "f8c8f093-a1b2-4115-8526-089374b7c119",
- "uuid" : "f845ee2c-4cb3-4cae-bde9-8ac2ba692ee7"
- },
- {
- "label" : "HWU",
- "name" : "social_strategy_supervisor",
- "ports" : [
- {
- "direction" : "out",
- "name" : "output?"
- }
- ],
- "position" : [ 5560, 2520 ],
- "size" : [ 200, 120 ],
- "sub_architecture" : "02a6c7d9-b0e8-4b4c-a838-56a4990ca96c",
- "uuid" : "a1d01235-a287-4e67-900b-d0e446924e2a"
+ "position" : [ 1600, 400 ],
+ "size" : [ 400, 120 ],
+ "sub_architecture" : "b96ac6ba-08a0-4df0-8341-206c356f7c87",
+ "uuid" : "3e7d7601-34c6-4975-9e36-f50968f141b2"
},
{
- "label" : "PAL",
- "name" : "raspicam",
+ "label" : "CVUT",
+ "name" : "HLoc",
"ports" : [
+ {
+ "direction" : "in",
+ "name" : "tf: camera frames "
+ },
{
"direction" : "out",
- "name" : "/head_front_camera/color/image_raw [sensor_msgs/Image]"
- }
- ],
- "position" : [ 40, 2260 ],
- "size" : [ 430.0625, 120 ],
- "sub_architecture" : "cf447604-0976-4fc3-ad4e-a135fa8ba454",
- "uuid" : "a284bd3a-0273-4d81-89ce-bc8d042b2674"
- },
- {
- "label" : "INRIA",
- "name" : "look_at_action_server",
- "ports" : [
+ "name" : "ROS service: pose + covariance"
+ },
{
"direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
+ "name" : "/robot_pose [geometry_msgs/PoseWithCovarianceStamped]"
},
{
"direction" : "in",
- "name" : "goal"
+ "name" : "/front_camera/fisheye/image_raw/compressed"
},
{
- "direction" : "out",
- "name" : "/look_at [LookAt]"
+ "direction" : "in",
+ "name" : "/rear_camera/fisheye/image_raw/compressed"
}
],
- "position" : [ 7100, 2980 ],
- "size" : [ 271.4375, 138 ],
- "sub_architecture" : "a5174b81-fea1-4d89-bfe5-7c909fcb134f",
- "uuid" : "4d1289b0-8d15-4c6c-ba82-f4fb9c3f4f17"
+ "position" : [ 2200, 3480 ],
+ "size" : [ 436, 240 ],
+ "sub_architecture" : "11554e14-1e5a-41d0-8604-9f0a4365849b",
+ "uuid" : "57c4f67f-9225-4bdc-9142-f9e92c2cada8"
},
{
- "label" : "PAL",
- "name" : "people_facts",
+ "label" : "BIU",
+ "name" : "riva_asr_1",
"ports" : [
{
"direction" : "in",
- "name" : "/h/p/..."
+ "name" : "/h/v/tracked [hri_msgs/IdsList]"
},
{
"direction" : "out",
- "name" : "/kb/add_fact [std_msgs/String]"
+ "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
}
],
- "position" : [ 4580, 1920 ],
- "size" : [ 240, 240 ],
- "sub_architecture" : "bfea9558-3b6a-44a6-a8ae-75c1e679ff48",
- "uuid" : "8dc55dfc-0215-44a1-9795-9255c328b198"
+ "position" : [ 4140, 580 ],
+ "size" : [ 540, 138 ],
+ "sub_architecture" : "23b514b9-a56c-461e-9dc0-7da9dd15e0fe",
+ "uuid" : "3ff4bbe5-0031-4fd1-af28-cd7bd92c0981"
},
{
- "label" : "INRIA",
- "name" : "look_at_position_action_server",
+ "label" : "UNITN",
+ "name" : "DEPENDENCY: wp4_msgs",
+ "position" : [ 6880, 3940 ],
+ "size" : [ 240, 120 ],
+ "sub_architecture" : "af8592a3-f2de-4843-b29d-8868afac79be",
+ "uuid" : "b84197a2-d5d2-42d1-942b-27383f14a278"
+ },
+ {
+ "label" : "HWU",
+ "name" : "dialogue_speech",
"ports" : [
{
- "direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
+ "direction" : "out",
+ "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
},
{
"direction" : "in",
- "name" : "goal"
+ "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
+ }
+ ],
+ "position" : [ 5100, 760 ],
+ "size" : [ 440, 180 ],
+ "sub_architecture" : "257fcacc-ff35-430b-b11f-efd376c496ce",
+ "uuid" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3"
+ },
+ {
+ "label" : "UNITN",
+ "name" : "human_2d_pose_estimation",
+ "ports" : [
+ {
+ "direction" : "in",
+ "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
},
{
"direction" : "out",
- "name" : "/navigate [Navigate]"
+ "name" : "/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]"
}
],
- "position" : [ 7100, 2660 ],
- "size" : [ 271.4375, 138 ],
- "sub_architecture" : "ba99bc77-6bde-403a-97f5-223132fb109a",
- "uuid" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6"
+ "position" : [ 2740, 2640 ],
+ "size" : [ 600, 180 ],
+ "sub_architecture" : "6a63c8f2-ccf1-434f-807e-1c0570ccdbc4",
+ "uuid" : "49035386-4f22-41d7-a281-71dcc64592bc"
},
{
- "label" : "BIU",
- "name" : "speakers_id",
+ "label" : "CVUT",
+ "name" : "slam_rtabmap",
"ports" : [
{
"direction" : "out",
- "name" : "tf: /voice_*"
+ "name" : "/robot_pose [geometry_msgs/PoseWithCovarianceStamped]"
},
{
- "direction" : "out",
- "name" : "/audio/vad"
+ "direction" : "in",
+ "name" : "[call HLoc to perform global localization]"
},
{
"direction" : "out",
- "name" : "/h/v/known [hri_msgs/IdsList]"
+ "name" : "tf: /odom"
+ },
+ {
+ "direction" : "in",
+ "name" : "torso_front_camera/infra*/*"
},
{
"direction" : "out",
- "name" : "/h/v/*/is_speaking [std_msgs/Bool]"
+ "name" : "/slam/occupancy_map [OccupancyGrid]"
},
{
"direction" : "in",
- "name" : "/humans/voices/speaker2/stream [audio_common_msgs/AudioData]"
- },
+ "name" : "/torso_front_camera/imu"
+ }
+ ],
+ "position" : [ 2200, 3800 ],
+ "size" : [ 436, 231 ],
+ "sub_architecture" : "046d668f-a787-4753-ab2f-c2b04f922ad0",
+ "uuid" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe"
+ },
+ {
+ "label" : "HWU",
+ "name" : "DEPENDENCY: social_scene_msgs",
+ "position" : [ 7900, 3940 ],
+ "size" : [ 280, 120 ],
+ "sub_architecture" : "ed680a03-e715-423d-b567-001b19ca4840",
+ "uuid" : "fdf1f034-d96a-4852-bb69-3934073e6708"
+ },
+ {
+ "label" : "HWU",
+ "name" : "dialogue_say",
+ "ports" : [
{
- "direction" : "out",
- "name" : "/h/v/*/doa [std_msgs/Float32]"
+ "direction" : "in",
+ "name" : "/dialogue_say/say [service]"
},
{
"direction" : "out",
- "name" : "/h/v/tracked [hri_msgs/IdsList]"
+ "name" : "/tts/feedback"
},
{
"direction" : "out",
- "name" : "/audio/is_listening"
- },
+ "name" : "/dialogue_say/text [String]"
+ }
+ ],
+ "position" : [ 6600, 1240 ],
+ "size" : [ 280, 169 ],
+ "sub_architecture" : "c854e5a0-2dbe-4eee-a79b-723d08083339",
+ "uuid" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104"
+ },
+ {
+ "label" : "ERM",
+ "name" : "robot gui",
+ "ports" : [
{
"direction" : "in",
- "name" : "/humans/voices/speaker1/doa [std_msgs/Float32]"
- },
- {
- "direction" : "out",
- "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
+ "name" : "/dialogue_say/text"
},
{
"direction" : "in",
- "name" : "/humans/voices/speaker2/doa [std_msgs/Float32]"
+ "name" : "/tts/feedback"
},
{
"direction" : "in",
- "name" : "/audio/ego_audio [audio_common_msgs/AudioData]"
+ "name" : "/human_dialogue"
},
{
"direction" : "in",
- "name" : "/humans/voices/speaker1/stream [audio_common_msgs/AudioData]"
+ "name" : "/audio/is_listening"
}
],
- "position" : [ 3060, 320 ],
- "size" : [ 760, 448 ],
- "sub_architecture" : "77ebd1d1-7f1e-47b7-8a26-4328c95c817a",
- "uuid" : "23a0d365-d60b-45d7-b229-a04bed5e41bb"
+ "position" : [ 7760, 1340 ],
+ "size" : [ 440, 220 ],
+ "sub_architecture" : "8a919bc7-c80b-4325-ac63-d04f2fc1d6bb",
+ "uuid" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d"
},
{
- "label" : "UNITN",
- "name" : "human_2d_pose_estimation",
+ "label" : "PAL",
+ "name" : "DEPENDENCY: hri_msgs",
+ "position" : [ 6280, 3940 ],
+ "size" : [ 280, 120 ],
+ "sub_architecture" : "7590c224-e846-4f1c-9ecb-0a2992568089",
+ "uuid" : "b5076968-861b-43cb-8bd8-35a5fefebfe4"
+ },
+ {
+ "label" : "INRIA",
+ "name" : "occupancy_map_republisher",
"ports" : [
{
"direction" : "out",
- "name" : "/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]"
+ "name" : "/slam/local_map [OccupancyGrid]"
},
{
"direction" : "in",
- "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
+ "name" : "/slam/obstacle_map [OccupancyGrid]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/slam/occupancy_map [OccupancyGrid]"
}
],
- "position" : [ 2740, 2640 ],
- "size" : [ 600, 180 ],
- "sub_architecture" : "6a63c8f2-ccf1-434f-807e-1c0570ccdbc4",
- "uuid" : "49035386-4f22-41d7-a281-71dcc64592bc"
+ "position" : [ 3780, 3280 ],
+ "size" : [ 440, 138 ],
+ "uuid" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44"
},
{
- "label" : "HWU",
- "name" : "social_state_analyzer",
+ "label" : "PAL",
+ "name" : "fisheye",
+ "ports" : [
+ {
+ "direction" : "out",
+ "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
+ }
+ ],
+ "position" : [ 40, 2120 ],
+ "size" : [ 432, 120 ],
+ "sub_architecture" : "9acdd8b9-4805-4239-aec0-8db4d0977e64",
+ "uuid" : "409d9526-77ed-4ee3-bae9-ab48381e0b28"
+ },
+ {
+ "label" : "PAL",
+ "name" : "people_facts",
"ports" : [
{
"direction" : "in",
- "name" : "kb"
+ "name" : "/h/p/..."
},
{
"direction" : "out",
- "name" : "output?"
- },
- {
- "direction" : "in",
- "name" : "/humans/persons/tracked"
+ "name" : "/kb/add_fact [std_msgs/String]"
}
],
- "position" : [ 5560, 2340 ],
- "size" : [ 199.5, 138 ],
- "sub_architecture" : "4f0b2a37-97ff-46ee-aff2-77001218ba31",
- "uuid" : "3dc083e8-26cc-448f-ae1e-25263c9f066f"
+ "position" : [ 4580, 1920 ],
+ "size" : [ 240, 240 ],
+ "sub_architecture" : "bfea9558-3b6a-44a6-a8ae-75c1e679ff48",
+ "uuid" : "8dc55dfc-0215-44a1-9795-9255c328b198"
},
{
"label" : "PAL",
@@ -1797,174 +1921,120 @@
"uuid" : "5a0113b6-a999-4339-8e21-44f3b8b3d693"
},
{
- "label" : "ERM",
- "name" : "exp_gui",
- "ports" : [
- {
- "direction" : "out",
- "name" : "/dialogue_start/goal [dialogue_msgs/StartDialogueActionGoal] "
- },
- {
- "direction" : "in",
- "name" : "/dialogue_start/status"
- },
- {
- "direction" : "in",
- "name" : "/diagnostics"
- },
- {
- "direction" : "out",
- "name" : "/dialogue_arbiter/reset [Empty]"
- },
- {
- "direction" : "out",
- "name" : "/interaction_manager/start [Empty]"
- },
- {
- "direction" : "out",
- "name" : "/web/go_to [pal_web_msgs/WebGoTo]"
- },
- {
- "direction" : "in",
- "name" : "/slam/localization_pose"
- },
- {
- "direction" : "out",
- "name" : "/experiment_exporter/error_feedback [String]"
- },
- {
- "direction" : "out",
- "name" : "/experiment_exporter/file_update [String]"
- }
- ],
- "position" : [ 7040, 620 ],
- "size" : [ 580, 324 ],
- "sub_architecture" : "68debd5e-9e7a-486c-a58e-d553009e0cb3",
- "uuid" : "2a909616-5a85-49b8-aafb-37daaa76d48c"
+ "label" : "PAL",
+ "name" : "DEPENDENCY: spring_msgs",
+ "position" : [ 6600, 3940 ],
+ "size" : [ 240, 120 ],
+ "sub_architecture" : "754b3165-805d-469a-b604-4dfef5453911",
+ "uuid" : "2e89a11f-a4b0-4b5e-8d72-975d8c47c7f7"
},
{
- "label" : "CVUT",
- "name" : "slam_rtabmap",
+ "label" : "HWU",
+ "name" : "DEPENDENCY: interaction_manager_msgs",
+ "position" : [ 7180, 3940 ],
+ "size" : [ 340, 120 ],
+ "sub_architecture" : "269a1164-ad2d-488c-9b86-b4256faddf9f",
+ "uuid" : "e4ad4076-7fa2-496d-b8ce-0d2c43eca484"
+ },
+ {
+ "label" : "INRIA",
+ "name" : "behavior_generator",
"ports" : [
- {
- "direction" : "out",
- "name" : "/slam/occupancy_map [OccupancyGrid]"
- },
{
"direction" : "in",
- "name" : "torso_front_camera/infra*/*"
+ "name" : "/h/p/tracked"
},
{
- "direction" : "out",
- "name" : "tf: /odom"
+ "direction" : "in",
+ "name" : "/look_at [LookAt]"
},
{
"direction" : "in",
- "name" : "/torso_front_camera/imu"
+ "name" : "/go_towards [GoTowards]"
},
{
"direction" : "out",
- "name" : "/robot_pose [geometry_msgs/PoseWithCovarianceStamped]"
+ "name" : "/controller_status"
},
- {
- "direction" : "in",
- "name" : "[call HLoc to perform global localization]"
- }
- ],
- "position" : [ 2200, 3800 ],
- "size" : [ 436.34375, 231 ],
- "sub_architecture" : "046d668f-a787-4753-ab2f-c2b04f922ad0",
- "uuid" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe"
- },
- {
- "label" : "UNITN",
- "name" : "MOCK: activity_recognition",
- "ports" : [
{
"direction" : "out",
- "name" : "[?] output to be defined + added to hri_msgs if possible"
+ "name" : "/head_controller/command [JointTrajectory]"
},
{
"direction" : "in",
- "name" : "/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]"
- }
- ],
- "position" : [ 3500, 2720 ],
- "size" : [ 520, 160 ],
- "sub_architecture" : "96cd31ae-5485-40db-8b27-b5a09888f810",
- "uuid" : "d715b004-7177-4001-bd9d-725e87789c94"
- },
- {
- "label" : "PAL",
- "name" : "torso_rgbd_camera",
- "ports" : [
- {
- "direction" : "out",
- "name" : "pointcloud"
- },
- {
- "direction" : "out",
- "name" : "torso_front_camera/infra*/*"
+ "name" : "tf: /body_*"
},
{
- "direction" : "out",
- "name" : "/torso_front_camera/imu"
+ "direction" : "in",
+ "name" : "/h/b/tracked"
},
- {
- "direction" : "out",
- "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
- }
- ],
- "position" : [ 40, 2400 ],
- "size" : [ 432.421875, 169 ],
- "sub_architecture" : "0ccd4f8f-abe0-4eae-9d35-d6af509364eb",
- "uuid" : "910781c7-928f-4445-a97b-6fbad208066f"
- },
- {
- "label" : "BIU",
- "name" : "MOCK: Voice-body matching",
- "ports" : [
{
"direction" : "in",
- "name" : "/humans/bodies/tracked"
+ "name" : "tf: /person_*"
},
{
"direction" : "in",
- "name" : "/humans/voices/tracked"
+ "name" : "/navigate [Navigate]"
},
{
"direction" : "in",
- "name" : "tf: /body_*"
+ "name" : "/slam/local_map [OccupancyGrid]"
+ },
+ {
+ "direction" : "out",
+ "name" : "tf: /final_point /nav_goal... "
},
{
"direction" : "in",
- "name" : "tf: /voice_*"
+ "name" : "/h/g/tracked"
},
{
"direction" : "out",
- "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
+ "name" : "/nav_vel [Twist]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/joint_states"
+ },
+ {
+ "direction" : "in",
+ "name" : "tf: /group_*"
}
],
- "position" : [ 4140, 860 ],
- "size" : [ 498, 200 ],
- "sub_architecture" : "c5fafc14-fe29-4632-be64-aa233e6c72ee",
- "uuid" : "172516ca-a279-42a7-b515-ba2257887296"
+ "position" : [ 7720, 2300 ],
+ "size" : [ 580, 520 ],
+ "sub_architecture" : "d5ec9783-4c4f-4652-a8bd-b786a1905f48",
+ "uuid" : "328fd73c-ead7-4b87-a815-401958fa77a2"
+ },
+ {
+ "label" : "PAL",
+ "name" : "raspicam",
+ "ports" : [
+ {
+ "direction" : "out",
+ "name" : "/head_front_camera/color/image_raw [sensor_msgs/Image]"
+ }
+ ],
+ "position" : [ 40, 2260 ],
+ "size" : [ 430, 120 ],
+ "sub_architecture" : "cf447604-0976-4fc3-ad4e-a135fa8ba454",
+ "uuid" : "a284bd3a-0273-4d81-89ce-bc8d042b2674"
},
{
"label" : "INRIA",
"name" : "front_fisheye_body_tracker",
"ports" : [
{
- "direction" : "in",
- "name" : "/front_camera_basetation/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]"
+ "direction" : "out",
+ "name" : ""
},
{
"direction" : "out",
"name" : "/h/b/*/cropped [sensor_msgs/Image]"
},
{
- "direction" : "out",
- "name" : ""
+ "direction" : "in",
+ "name" : "/front_camera_basetation/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]"
},
{
"direction" : "out",
@@ -1981,201 +2051,145 @@
"uuid" : "d609252f-2fd4-4439-86c3-ece9fd387a3a"
},
{
- "label" : "PAL",
- "name" : "respeaker_ros",
+ "label" : "BIU",
+ "name" : "audio_processing_mode",
"ports" : [
{
"direction" : "out",
- "name" : "/audio/raw_audio [audio_common_msgs/AudioData]"
+ "name" : "/audio/enh_audio [spring_msgs/RawAudioData]"
},
{
- "direction" : "out",
- "name" : "/audio/ego_audio [audio_common_msgs/AudioData]"
+ "direction" : "in",
+ "name" : "/audio/raw_audio [spring_msgs/RawAudioData]"
}
],
- "position" : [ 1600, 400 ],
- "size" : [ 400, 120 ],
- "sub_architecture" : "b96ac6ba-08a0-4df0-8341-206c356f7c87",
- "uuid" : "3e7d7601-34c6-4975-9e36-f50968f141b2"
+ "position" : [ 2380, 20 ],
+ "size" : [ 580, 260 ],
+ "sub_architecture" : "703291ee-d2c9-4f3c-a94c-fb6030dd783e",
+ "uuid" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3"
},
{
- "label" : "INRIA",
- "name" : "group_detector",
+ "label" : "HWU",
+ "name" : "interaction_manager",
"ports" : [
- {
- "direction" : "out",
- "name" : "tf: /group_*"
- },
{
"direction" : "in",
- "name" : "tf: /person_*"
+ "name" : "/interaction_manager/update [service]"
},
{
"direction" : "in",
- "name" : "/h/p/tracked"
- },
- {
- "direction" : "out",
- "name" : "/h/g/*/members [hri_msgs/IdList]"
+ "name" : "/interaction_manager/query [service]"
},
{
"direction" : "out",
- "name" : "/h/g/tracked [hri_msgs/IdList]"
- }
- ],
- "position" : [ 4400, 2800 ],
- "size" : [ 380, 200 ],
- "sub_architecture" : "ac9968c7-7626-4459-a7b3-ccbfaaac682c",
- "uuid" : "aa83a592-d631-44a2-bbaa-f812b8669bc7"
- },
- {
- "label" : "INRIA",
- "name" : "front_fisheye_2d_body_pose_detector",
- "ports" : [
- {
- "direction" : "out",
- "name" : "/h/b/*/skeleton2d [hri_msg/Skeleton2D]"
+ "name" : "/task*_ros_server_action [action]"
},
{
"direction" : "in",
- "name" : "/tracker/tracker_output [std_msgs/String]"
+ "name" : "TF"
},
{
"direction" : "in",
- "name" : "/front_camera/fisheye/image_raw [sensor_msgs/Image]"
- }
- ],
- "position" : [ 2260, 1420 ],
- "size" : [ 480, 140 ],
- "sub_architecture" : "f15ca40a-1ed5-416f-8467-d1551bf43797",
- "uuid" : "9f0e4a90-79fb-4f15-b769-f539dd6ccc71"
- },
- {
- "label" : "PAL",
- "name" : "fisheye",
- "ports" : [
- {
- "direction" : "out",
- "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
- }
- ],
- "position" : [ 40, 2120 ],
- "size" : [ 432.421875, 120 ],
- "sub_architecture" : "9acdd8b9-4805-4239-aec0-8db4d0977e64",
- "uuid" : "409d9526-77ed-4ee3-bae9-ab48381e0b28"
- },
- {
- "label" : "CVUT",
- "name" : "HLoc",
- "ports" : [
+ "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
+ },
{
"direction" : "out",
- "name" : "ROS service: pose + covariance"
+ "name" : "/dialogue_start"
},
{
"direction" : "in",
- "name" : "tf: camera frames "
+ "name" : "/controller_status [ControllerStatus]"
},
{
"direction" : "in",
- "name" : "/robot_pose [geometry_msgs/PoseWithCovarianceStamped]"
+ "name" : "/dialogue_nlp/nlu [JSON String]"
},
{
- "direction" : "in",
- "name" : "/front_camera/fisheye/image_raw/compressed"
+ "direction" : "out",
+ "name" : "/navigation goals"
},
{
"direction" : "in",
- "name" : "/rear_camera/fisheye/image_raw/compressed"
- }
- ],
- "position" : [ 2200, 3480 ],
- "size" : [ 436.34375, 240 ],
- "sub_architecture" : "11554e14-1e5a-41d0-8604-9f0a4365849b",
- "uuid" : "57c4f67f-9225-4bdc-9142-f9e92c2cada8"
- },
- {
- "label" : "INRIA",
- "name" : "body_to_face_mapper",
- "ports" : [
- {
- "direction" : "in",
- "name" : "/humans/bodies/tracked [hri_msgs/IdsList]"
+ "name" : "semantic scene description [ON HOLD]"
},
{
"direction" : "out",
- "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
+ "name" : "/look_at goals"
},
{
- "direction" : "in",
- "name" : "/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
+ "direction" : "out",
+ "name" : "gestures"
},
{
"direction" : "in",
- "name" : "/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
+ "name" : "input"
},
{
"direction" : "in",
- "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
+ "name" : "/register_server [service]"
}
],
- "position" : [ 3400, 1940 ],
- "size" : [ 420, 200 ],
- "sub_architecture" : "4bd1bc1e-a5e1-4db9-9f83-e80c15e56e08",
- "uuid" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8"
- },
- {
- "label" : "UNITN",
- "name" : "DEPENDENCY: wp4_msgs",
- "position" : [ 6880, 3940 ],
- "size" : [ 240, 120 ],
- "sub_architecture" : "af8592a3-f2de-4843-b29d-8868afac79be",
- "uuid" : "b84197a2-d5d2-42d1-942b-27383f14a278"
+ "position" : [ 6020, 2120 ],
+ "size" : [ 400, 760 ],
+ "sub_architecture" : "b87a23ac-d223-4bac-b438-0b16e6e55270",
+ "uuid" : "bc526a14-c5aa-466e-ba5b-30a78b14d672"
},
{
"label" : "HWU",
- "name" : "dialogue_speech",
+ "name" : "dialogue_nlp",
"ports" : [
{
"direction" : "in",
- "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
+ "name" : "/get_answer [service]"
},
{
"direction" : "out",
- "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
+ "name" : "/dialogue_nlp/nlu [JSON String]"
}
],
- "position" : [ 5100, 760 ],
- "size" : [ 440, 180 ],
- "sub_architecture" : "257fcacc-ff35-430b-b11f-efd376c496ce",
- "uuid" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3"
+ "position" : [ 6600, 1480 ],
+ "size" : [ 280, 120 ],
+ "sub_architecture" : "f8c8f093-a1b2-4115-8526-089374b7c119",
+ "uuid" : "f845ee2c-4cb3-4cae-bde9-8ac2ba692ee7"
},
{
"label" : "BIU",
- "name" : "riva_asr_1",
+ "name" : "MOCK: Voice-body matching",
"ports" : [
{
"direction" : "in",
- "name" : "/h/v/tracked [hri_msgs/IdsList]"
+ "name" : "tf: /body_*"
},
{
- "direction" : "out",
- "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
+ "direction" : "in",
+ "name" : "tf: /voice_*"
},
{
"direction" : "in",
- "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
+ "name" : "/humans/bodies/tracked"
+ },
+ {
+ "direction" : "in",
+ "name" : "/humans/voices/tracked"
+ },
+ {
+ "direction" : "out",
+ "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
}
],
- "position" : [ 4140, 580 ],
- "size" : [ 540, 138 ],
- "sub_architecture" : "23b514b9-a56c-461e-9dc0-7da9dd15e0fe",
- "uuid" : "3ff4bbe5-0031-4fd1-af28-cd7bd92c0981"
+ "position" : [ 4140, 860 ],
+ "size" : [ 498, 200 ],
+ "sub_architecture" : "c5fafc14-fe29-4632-be64-aa233e6c72ee",
+ "uuid" : "172516ca-a279-42a7-b515-ba2257887296"
},
{
"label" : "INRIA",
"name" : "go_to_position_action_server",
"ports" : [
+ {
+ "direction" : "in",
+ "name" : "goal"
+ },
{
"direction" : "out",
"name" : "/go_towards [GoTowards]"
@@ -2183,241 +2197,252 @@
{
"direction" : "in",
"name" : "/controller_status [ControllerStatus]"
- },
- {
- "direction" : "in",
- "name" : "goal"
}
],
"position" : [ 7100, 2500 ],
- "size" : [ 271.4375, 138 ],
+ "size" : [ 271, 138 ],
"sub_architecture" : "cc6bb1c2-c450-4e00-b0d8-b0f0d2048e04",
"uuid" : "b2cf0310-792d-4753-9e3d-243de1c81bbe"
},
{
"label" : "BIU",
- "name" : "MOCK: speaker_extraction",
+ "name" : "speakers_id",
"ports" : [
- {
- "direction" : "in",
- "name" : "database of voice embeddings"
- },
- {
- "direction" : "out",
- "name" : "/audio/stream* [audio_common_msgs/AudioData]"
- },
- {
- "direction" : "in",
- "name" : "/audio/raw_audio [audio_common_msgs/AudioData]"
- },
{
"direction" : "out",
- "name" : "/audio/doa* [std_msgs/Float32]"
- }
- ],
- "position" : [ 2380, 800 ],
- "size" : [ 1440, 180 ],
- "sub_architecture" : "9a662d15-0e9a-4d34-bf73-ab087206578f",
- "uuid" : "7439ab30-129c-4f3a-9886-149ba213c18c"
- },
- {
- "label" : "HWU",
- "name" : "dialogue_arbitrer",
- "ports" : [
+ "name" : "/h/v/tracked [hri_msgs/IdsList]"
+ },
{
"direction" : "out",
- "name" : "/dialogue_say/say [service]"
+ "name" : "/audio/is_listening"
+ },
+ {
+ "direction" : "in",
+ "name" : "/humans/voices/speaker1/stream [audio_common_msgs/AudioData]"
},
{
"direction" : "out",
- "name" : "/human_dialogue"
+ "name" : "/audio/vad"
},
{
- "direction" : "in",
- "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
+ "direction" : "out",
+ "name" : "tf: /voice_*"
},
{
"direction" : "in",
- "name" : "/dialogue_arbitrer/update [service]"
+ "name" : "/humans/voices/speaker1/doa [std_msgs/Float32]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
},
{
"direction" : "in",
- "name" : "/dialogue_start [action server]"
+ "name" : "/humans/voices/speaker2/doa [std_msgs/Float32]"
},
{
"direction" : "in",
- "name" : "/dialogue_arbitrer/query [service]"
+ "name" : "/audio/ego_audio [audio_common_msgs/AudioData]"
},
{
"direction" : "out",
- "name" : "/task*_ros_server_action [action]"
+ "name" : "/h/v/known [hri_msgs/IdsList]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/h/v/*/is_speaking [std_msgs/Bool]"
},
{
"direction" : "in",
- "name" : "/register_server [service]"
+ "name" : "/humans/voices/speaker2/stream [audio_common_msgs/AudioData]"
},
{
"direction" : "out",
- "name" : "/get_answer [service]"
+ "name" : "/h/v/*/doa [std_msgs/Float32]"
}
],
- "position" : [ 6020, 1180 ],
- "size" : [ 400, 340 ],
- "sub_architecture" : "e2ee44b3-4f04-4a27-a947-525fae05035d",
- "uuid" : "9ab39362-e233-44d2-9d06-dd24694446f2"
+ "position" : [ 3060, 320 ],
+ "size" : [ 760, 448 ],
+ "sub_architecture" : "77ebd1d1-7f1e-47b7-8a26-4328c95c817a",
+ "uuid" : "23a0d365-d60b-45d7-b229-a04bed5e41bb"
},
{
- "label" : "ERM",
- "name" : "experiment_exporter",
+ "label" : "INRIA",
+ "name" : "basestation_republisher",
"ports" : [
{
"direction" : "in",
- "name" : "/dialogue_say/text [String]"
+ "name" : "/torso_front_camera/aligned_depth_to_color/image_raw/theora"
},
{
"direction" : "in",
- "name" : "/experiment_exporter/file_update [String]"
+ "name" : "/front_camera/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/*_basestation/fisheye/... [sensor_msgs/Image]"
},
{
"direction" : "in",
- "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
+ "name" : "/torso_front_camera/color/image_raw/theora"
},
{
"direction" : "in",
- "name" : "/experiment_exporter/error_feedback [String]"
+ "name" : "/head_front_camera/color/image_raw/compressed"
}
],
- "position" : [ 7780, 960 ],
- "size" : [ 456, 293 ],
- "sub_architecture" : "923f34e5-2023-4f02-985d-3e7f472b861f",
- "uuid" : "d4763e1f-4652-42ee-ae51-b4f2447f4d9a"
+ "position" : [ 700, 2200 ],
+ "size" : [ 580, 260 ],
+ "sub_architecture" : "4b6bafeb-e303-4f6b-a7db-cfa8b1fc5a23",
+ "uuid" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3"
},
{
- "label" : "CVUT",
- "name" : "MOCK: Yolact3D",
+ "label" : "HWU",
+ "name" : "ros_petri_net_node",
"ports" : [
{
"direction" : "in",
- "name" : "/torso_front_camera/aligned_depth_to_color [sensor_msgs/Image"
- },
- {
- "direction" : "in",
- "name" : "/slam/occupancy_map [OccupancyGrid]"
- },
+ "name" : "/RPN [action server]"
+ }
+ ],
+ "position" : [ 6600, 1660 ],
+ "size" : [ 280, 120 ],
+ "sub_architecture" : "d08a0f04-1e8d-4aa1-b71a-b3bf4597d4e2",
+ "uuid" : "ed36231e-fb0f-45d5-8770-6f8c613f8ca4"
+ },
+ {
+ "label" : "INRIA",
+ "name" : "go_to_group_action_server",
+ "ports" : [
{
"direction" : "out",
- "name" : "/yolact3d/detected_objects_distribution [yolact3d/Yolact3DObjects]"
+ "name" : "/go_towards [GoTowards]"
},
{
"direction" : "in",
- "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
+ "name" : "/controller_status [ControllerStatus]"
},
{
"direction" : "in",
- "name" : "tf"
+ "name" : "goal"
}
],
- "position" : [ 3780, 3580 ],
- "size" : [ 520, 240 ],
- "sub_architecture" : "cc914ac9-9aa0-4b00-8328-f9378e229ae9",
- "uuid" : "b357b248-d5a8-445d-9c09-5c567d074966"
+ "position" : [ 7100, 2020 ],
+ "size" : [ 271, 138 ],
+ "sub_architecture" : "90d17edc-f200-49f6-adad-5100466d6703",
+ "uuid" : "c0155b17-15f4-4d86-909b-433fe737cb5f"
},
{
- "label" : "UNITN",
- "name" : "face_tracker",
+ "label" : "INRIA",
+ "name" : "go_to_person_action_server",
"ports" : [
{
"direction" : "out",
- "name" : "/h/f/*/cropped [sensor_msg/Image]"
+ "name" : "/go_towards [GoTowards]"
},
{
"direction" : "in",
- "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
- },
- {
- "direction" : "out",
- "name" : "/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
+ "name" : "goal"
},
{
- "direction" : "out",
- "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
+ "direction" : "in",
+ "name" : "/controller_status [ControllerStatus]"
}
],
- "position" : [ 1920, 2300 ],
- "size" : [ 427.578125, 231 ],
- "uuid" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90"
+ "position" : [ 7100, 2340 ],
+ "size" : [ 271, 138 ],
+ "sub_architecture" : "8877ac09-dcf3-4f4b-9462-d7948759a3a3",
+ "uuid" : "bf22a99b-3b6f-416c-b967-8b4df877a72e"
},
{
- "label" : "PAL",
- "name" : "hri_person_manager",
+ "label" : "UNITN",
+ "name" : "soft_biometrics_estimator",
"ports" : [
{
"direction" : "in",
- "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
+ "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
},
{
- "direction" : "out",
- "name" : "tf: /person_*"
+ "direction" : "in",
+ "name" : "/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
},
{
"direction" : "out",
- "name" : "/h/p/..."
+ "name" : "/humans/candidate_matches [hri_msgs/IdsMatch] [face reco]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
},
{
"direction" : "out",
- "name" : "/h/p/tracked [hri_msgs/IdsList]"
+ "name" : "/h/f/*/softbiometrics [hri_msgs/SoftBiometrics]"
}
],
- "position" : [ 4080, 2080 ],
- "size" : [ 360.953125, 380 ],
- "sub_architecture" : "1f5e18f3-1be0-4e21-a3e1-439a597fe002",
- "uuid" : "43da963c-18a8-4ad7-86f6-f361a9d25d36"
+ "position" : [ 2740, 2240 ],
+ "size" : [ 601, 200 ],
+ "sub_architecture" : "970d1105-d292-4308-b90f-8d8005a781eb",
+ "uuid" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e"
},
{
- "label" : "HWU",
- "name" : "recipe_planner",
+ "label" : "BIU",
+ "name" : "speaker_separation",
"ports" : [
{
"direction" : "out",
- "name" : "/queries"
+ "name" : "/audio/speaker1/doa [std_msgs/Float32]"
},
{
"direction" : "out",
- "name" : "/updates"
+ "name" : "/audio/speaker2/doa [std_msgs/Float32]"
},
{
"direction" : "out",
- "name" : "/RPN [action]"
+ "name" : "/audio/speaker2/stream [audio_common_msgs/AudioData]"
},
{
"direction" : "in",
- "name" : "semantic scene description"
+ "name" : "/audio/raw_audio [audio_common_msgs/AudioData]"
},
{
"direction" : "out",
- "name" : "/register_server [service]"
- },
+ "name" : "/audio/speaker1/stream [audio_common_msgs/AudioData]"
+ }
+ ],
+ "position" : [ 2380, 320 ],
+ "size" : [ 600, 440 ],
+ "sub_architecture" : "ded25e98-4132-4678-bef7-5d0945fdaf78",
+ "uuid" : "63835655-4d0a-4d5a-9849-365826ee7738"
+ },
+ {
+ "label" : "INRIA",
+ "name" : "look_at_position_action_server",
+ "ports" : [
{
"direction" : "in",
- "name" : "/task*_ros_server_action [action]"
+ "name" : "/controller_status [ControllerStatus]"
},
{
- "direction" : "in",
- "name" : "PDDL yaml library"
+ "direction" : "out",
+ "name" : "/navigate [Navigate]"
},
{
"direction" : "in",
- "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
+ "name" : "goal"
}
],
- "position" : [ 6020, 1540 ],
- "size" : [ 400, 293 ],
- "sub_architecture" : "9ff15583-a3c7-439b-a578-91ea4afac364",
- "uuid" : "35d5af59-53e3-466c-874d-89131352c403"
+ "position" : [ 7100, 2660 ],
+ "size" : [ 271, 138 ],
+ "sub_architecture" : "ba99bc77-6bde-403a-97f5-223132fb109a",
+ "uuid" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6"
},
{
"label" : "UNITN",
- "name" : "depth_estimation",
+ "name" : "gaze_estimation",
"ports" : [
{
"direction" : "in",
@@ -2425,69 +2450,51 @@
},
{
"direction" : "out",
+ "name" : "GazeFrame [2D point in rgb frame]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/h/f/*/roi [sensor_msgs/RegionOfInterest]"
+ },
+ {
+ "direction" : "in",
"name" : "/depth_estimation [sensor_msgs/Image]"
}
],
- "position" : [ 1940, 2980 ],
- "size" : [ 460, 140 ],
- "sub_architecture" : "bc0aa7fa-7aef-44a0-8cd1-48e4a3e87e7b",
- "uuid" : "633be9cd-9f1b-4cdd-b708-a1edd3742842"
+ "position" : [ 2740, 3000 ],
+ "size" : [ 600, 169 ],
+ "sub_architecture" : "2acb3f97-e06f-4e94-a48f-a3e140ad55fb",
+ "uuid" : "4fbd8427-4d9f-4087-9a30-e7df1c1f69e7"
},
{
"label" : "INRIA",
- "name" : "look_at_person_server",
+ "name" : "body_3d_tracker",
"ports" : [
{
"direction" : "in",
- "name" : "goal"
+ "name" : "/front_camera/fisheye/image_raw [sensor_msgs/Image]"
},
{
"direction" : "out",
- "name" : "/look_at [LookAt]"
+ "name" : "tf: /body_*"
},
{
"direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
- }
- ],
- "position" : [ 7100, 2820 ],
- "size" : [ 271.4375, 138 ],
- "sub_architecture" : "28912232-55a1-48ad-bb37-c99b7f1ad079",
- "uuid" : "9a5658f1-943d-4889-8e2a-0735ee5de159"
- },
- {
- "label" : "HWU",
- "name" : "DEPENDENCY: robot_behaviour_msgs",
- "position" : [ 7560, 3940 ],
- "size" : [ 300, 120 ],
- "sub_architecture" : "9d93f431-05b6-4ee4-88ea-8bb60a01611f",
- "uuid" : "ef2aa285-f20c-40de-a0fe-b4bb37a9ee8a"
- },
- {
- "label" : "HWU",
- "name" : "DEPENDENCY: audio_msgs",
- "position" : [ 8220, 3940 ],
- "size" : [ 340, 120 ],
- "sub_architecture" : "88aec3fc-6d19-455e-96fc-303c6aaab831",
- "uuid" : "19d263e5-e380-457f-84ba-67b9a4b3ce0b"
- },
- {
- "label" : "PAL",
- "name" : "Robot functional layer",
- "ports" : [
+ "name" : "/h/b/*/skeleton2d [hri_msg/Skeleton2D]"
+ },
{
"direction" : "in",
- "name" : "input"
+ "name" : "/tracker/tracker_output [std_msgs/String]"
},
{
"direction" : "out",
- "name" : "/joint_states"
+ "name" : "/humans/bodies/tracked [hri_msgs/IdsList]"
}
],
- "position" : [ 8440, 2300 ],
- "size" : [ 240, 520 ],
- "sub_architecture" : "69547d1d-f0ba-4ebf-b19b-f8cc5e63fd36",
- "uuid" : "20eb61ac-3243-41ed-b855-451cd88e4ae5"
+ "position" : [ 2860, 1660 ],
+ "size" : [ 460, 200 ],
+ "sub_architecture" : "f6ab2c5c-5c73-439c-9342-fb1bbb24b1da",
+ "uuid" : "c9b76975-8236-4440-8693-6756fef3990b"
}
],
"uuid" : "234f40f3-f9bb-4d69-8121-aec26ac8c228",
diff --git a/spring-architecture.md b/spring-architecture.md
index 962dc13d8d87de150f031749650ad361d01acf4b..0cae7ae094b2e4c246e95585e563fdd682787aa4 100644
--- a/spring-architecture.md
+++ b/spring-architecture.md
@@ -1,1198 +1,1409 @@
-# SPRING architecture
-
-**Version:** 1.0.0
-
-EU H2020 SPRING architecture
-
-## Overview of modules
-
-| **Node** | **id** | **Partner** | **Status** |
-|----------|--------|-------------|------------|
-| [F-formation](#fformation) | fformation | UNITN | mock-up |
-| [social_scene_context_understanding](#social_scene_context_understanding) | social_scene_context_understanding | HWU | released (version spring_dev) |
-| [Activity reco](#activityreco) | activityreco | UNITN | mock-up |
-| [respeaker_ros](#respeaker_ros) | respeaker_ros | PAL | released (version master) |
-| [mask_detector](#mask_detector) | mask_detector | UNITN | released (version master) |
-| [fisheye](#fisheye) | fisheye | PAL | mock-up |
-| [soft_biometrics_estimator](#soft_biometrics_estimator) | soft_biometrics_estimator | UNITN | released (version master) |
-| [ robot_behaviour_msgs](#robot_behaviour_msgs) | robot_behaviour_msgs | HWU | released (version spring_dev) (dependency) |
-| [ hri_msgs](#hri_msgs) | hri_msgs | PAL | released (version 0.1.1) (dependency) |
-| [tracker](#tracker) | tracker | INRIA | released (version devel) |
-| [people_facts](#people_facts) | people_facts | PAL | mock-up |
-| [raspicam](#raspicam) | raspicam | PAL | mock-up |
-| [google_translate](#google_translate) | google_translate | HWU | mock-up |
-| [front_fisheye_basestation_node](#front_fisheye_basestation_node) | front_fisheye_basestation_node | INRIA | mock-up |
-| [controller_node](#controller_node) | controller_node | INRIA | released (version devel) |
-| [interaction_manager](#interaction_manager) | interaction_manager | HWU | released (version spring_dev) |
-| [go_towards_action_server](#go_towards_action_server) | go_towards_action_server | HWU | mock-up |
-| [republish_from_rtab_map_node](#republish_from_rtab_map_node) | republish_from_rtab_map_node | INRIA | released (version 0.0.1) |
-| [track_frame_node](#track_frame_node) | track_frame_node | INRIA | released (version 0.0.1) |
-| [ audio_msgs](#audio_msgs) | audio_msgs | HWU | released (version spring_dev) (dependency) |
-| [knowledge_core](#knowledge_core) | knowledge_core | PAL | mock-up |
-| [Semantic mapping](#semanticmapping) | semanticmapping | CVUT | mock-up |
-| [ interaction_manager_msgs](#interaction_manager_msgs) | interaction_manager_msgs | HWU | released (version spring_dev) (dependency) |
-| [social_strategy_supervisor](#social_strategy_supervisor) | social_strategy_supervisor | HWU | mock-up |
-| [User attention estimation](#userattentionestimation) | userattentionestimation | UNITN | mock-up |
-| [ spring_msgs](#spring_msgs) | spring_msgs | PAL | released (version 0.0.2) |
-| [speech](#speech) | speech | HWU | released (version BIU_dev) |
-| [gaze_estimation](#gaze_estimation) | gaze_estimation | UNITN | mock-up |
-| [Non-verbal behaviours](#nonverbalbehaviours) | nonverbalbehaviours | UNITN | mock-up |
-| [alana_node](#alana_node) | alana_node | HWU | mock-up |
-| [torso_rgbd_camera](#torso_rgbd_camera) | torso_rgbd_camera | PAL | mock-up |
-| [Object detection/identification/localisation](#objectdetectionidentificationlocalisation) | objectdetectionidentificationlocalisation | CVUT | mock-up |
-| [ InLoc Server](#inlocserver) | inlocserver | CVUT | mock-up |
-| [ social_scene_msgs](#social_scene_msgs) | social_scene_msgs | HWU | released (version spring_dev) (dependency) |
-| [InLoc-ROS](#inlocros) | inlocros | CVUT | mock-up |
-| [Voice-body matching](#voicebodymatching) | voicebodymatching | BIU | mock-up |
-| [depth_estimation](#depth_estimation) | depth_estimation | UNITN | mock-up |
-| [rtabmap](#rtabmap) | rtabmap | INRIA | mock-up |
-| [Robot functional layer](#robotfunctionallayer) | robotfunctionallayer | PAL | mock-up |
-| [ros_petri_net_node](#ros_petri_net_node) | ros_petri_net_node | HWU | mock-up |
-| [social_state_analyzer](#social_state_analyzer) | social_state_analyzer | HWU | mock-up |
-| [audio_processing_mode](#audio_processing_mode) | audio_processing_mode | BIU | released (version BIU_dev) |
-| [dialogue_say](#dialogue_say) | dialogue_say | PAL | mock-up |
-| [Speaker identification](#speakeridentification) | speakeridentification | BIU | mock-up |
-| [Robot GUI](#robotgui) | robotgui | ERM | mock-up |
-| [ros_mediapipe_node](#ros_mediapipe_node) | ros_mediapipe_node | INRIA | released (version 0.0.1) |
-| [Speaker separation/diarization](#speakerseparationdiarization) | speakerseparationdiarization | BIU | mock-up |
-| [look_at_action_server](#look_at_action_server) | look_at_action_server | HWU | mock-up |
-| [navigate_action_server](#navigate_action_server) | navigate_action_server | HWU | mock-up |
-| [sound source localisation](#soundsourcelocalisation) | soundsourcelocalisation | BIU | mock-up |
-| [ORB SLAM](#orbslam) | orbslam | PAL | mock-up |
-| [dialogue_speech](#dialogue_speech) | dialogue_speech | HWU | mock-up |
-| [Voice speech matching](#voicespeechmatching) | voicespeechmatching | BIU | mock-up |
-| [ wp4_msgs](#wp4_msgs) | wp4_msgs | UNITN | released (version master) (dependency) |
-| [hri_person_manager](#hri_person_manager) | hri_person_manager | PAL | released (version master) |
-| [Occupancy map](#occupancymap) | occupancymap | CVUT | mock-up |
-| [dialogue_arbiter](#dialogue_arbiter) | dialogue_arbiter | HWU | released (version spring_dev) |
-| [User visual focus](#uservisualfocus) | uservisualfocus | UNITN | mock-up |
-| [recipe_planner](#recipe_planner) | recipe_planner | HWU | released (version spring_dev) |
-
-## Detailed description
+---
+title: "SPRING architecture -- version 2.0.0"
+subtitle: "EU H2020 SPRING -- D7.4: Mature Software Architecture"
+author: Séverin Lemaignan
+---
+# Overview of modules
+
+| **Node** | **Partner** | **Status** | **Description** |
+|----------|-------------|------------|-----------------|
+| [riva_asr_0](#riva_asr_0) | BIU | released | Speech recognition based on NVIDIA Riva. Code: [https://gitlab.inria.fr/spring/wp3_av_perception/riva_asr_ros_client ](https://gitlab.inria.fr/spring/wp3_av_perception/riva_asr_ros_client )|
+| [speaker_extraction](#speaker_extraction) | BIU | not yet implemented | Voice embedding + speaker separation together (planned for Autumn 2023)|
+| [riva_asr_1](#riva_asr_1) | BIU | released | Speech recognition based on NVIDIA Riva (2nd instance for 2nd speaker). Code: [https://gitlab.inria.fr/spring/wp3_av_perception/riva_asr_ros_client ](https://gitlab.inria.fr/spring/wp3_av_perception/riva_asr_ros_client )|
+| [speakers_id](#speakers_id) | BIU | released | Speaker identification based on voice embeddings. Code: [git@gitlab.inria.fr:spring/wp4_behavior/non-integrated-contributions/speaker_identification.git](git@gitlab.inria.fr:spring/wp4_behavior/non-integrated-contributions/speaker_identification.git)|
+| [audio_processing_mode](#audio_processing_mode) | BIU | released | Audio pre-processing (incl. noise cancellation). Code: [https://gitlab.inria.fr/spring/wp3_av_perception/speech-enhancement SUBFOLDER:audio_processing ](https://gitlab.inria.fr/spring/wp3_av_perception/speech-enhancement SUBFOLDER:audio_processing )|
+| [speaker_separation](#speaker_separation) | BIU | released | blind separation + VAD + enhancement. Code: [ git@gitlab.inria.fr:spring/wp3_av_perception/audio_separation.git]( git@gitlab.inria.fr:spring/wp3_av_perception/audio_separation.git)|
+| [Voice-body matching](#voicebodymatching) | BIU | not yet implemented | Matching between localised voices and detected bodies|
+| [Yolact3D](#yolact3d) | CVUT | not yet implemented | Object detection/identification/localisation. Code: [ git@gitlab.inria.fr:spring/wp2_mapping_localization/yolact3d.git]( git@gitlab.inria.fr:spring/wp2_mapping_localization/yolact3d.git)|
+| [slam_rtabmap](#slam_rtabmap) | CVUT | released | |
+| [HLoc](#hloc) | CVUT | released | Global localization, service-based. Code: [git@gitlab.inria.fr:spring/wp2_mapping_localization/hloc-mapping-localization.git](git@gitlab.inria.fr:spring/wp2_mapping_localization/hloc-mapping-localization.git)|
+| [experiment_exporter](#experiment_exporter) | ERM | released | Experiment_exporter is in charge of logging the experiment data.. Code: [git@gitlab.inria.fr:spring/wp1_user_application/export-dialog.git](git@gitlab.inria.fr:spring/wp1_user_application/export-dialog.git)|
+| [robot gui](#robotgui) | ERM | released | Robot tablet interface. Code: [git@gitlab.inria.fr:spring/wp1_user_application/user_application.git](git@gitlab.inria.fr:spring/wp1_user_application/user_application.git)|
+| [exp_gui](#exp_gui) | ERM | released | Web server for the experimenter tablet. Code: [git@gitlab.inria.fr:spring/wp1_user_application/exp-gui.git](git@gitlab.inria.fr:spring/wp1_user_application/exp-gui.git)|
+| [ audio_msgs](#audio_msgs) | HWU | released | None REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/asr.git SUBFOLDER:audio_msgs NOT EXECUTABLE|
+| [ interaction_manager_msgs](#interaction_manager_msgs) | HWU | released | ROS messages. Code: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager_msgs NOT EXECUTABLE](git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager_msgs NOT EXECUTABLE)|
+| [ robot_behaviour_msgs](#robot_behaviour_msgs) | HWU | released | ROS messages. Code: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git SUBFOLDER:robot_behaviour_msgs NOT EXECUTABLE](git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git SUBFOLDER:robot_behaviour_msgs NOT EXECUTABLE)|
+| [ social_scene_msgs](#social_scene_msgs) | HWU | released | ROS messages. Code: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:social_scene_msgs NOT EXECUTABLE](git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:social_scene_msgs NOT EXECUTABLE)|
+| [ros_petri_net_node](#ros_petri_net_node) | HWU | released | Petrinet-based task planning|
+| [dialogue_speech](#dialogue_speech) | HWU | released | Speech pre-processing (incl. end of speech detection) REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git SUBFOLDER:dialogue_speech|
+| [dialogue_nlp](#dialogue_nlp) | HWU | released | ALANA chatbot|
+| [interaction_manager](#interaction_manager) | HWU | released | . Code: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager](git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager)|
+| [dialogue_say](#dialogue_say) | HWU | released | proxy to robot's TTS action server for ERM convenience|
+| [social_state_analyzer](#social_state_analyzer) | HWU | released | Social scene understanding|
+| [social_strategy_supervisor](#social_strategy_supervisor) | HWU | released | High-level interaction supervisor|
+| [recipe_planner](#recipe_planner) | HWU | released | . Code: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git](git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git)|
+| [dialogue_arbitrer](#dialogue_arbitrer) | HWU | released | . Code: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git SUBFOLDER:dialogue_arbiter](git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git SUBFOLDER:dialogue_arbiter)|
+| [look_at_position_action_server](#look_at_position_action_server) | INRIA | released | Robot action server ('look at person' action)|
+| [go_to_group_action_server](#go_to_group_action_server) | INRIA | released | Robot action server (group approach)|
+| [go_to_person_action_server](#go_to_person_action_server) | INRIA | released | Robot action server (person approach)|
+| [occupancy_map_republisher](#occupancy_map_republisher) | INRIA | not yet implemented | |
+| [front_fisheye_2d_body_pose_detector](#front_fisheye_2d_body_pose_detector) | INRIA | released | 2D skeleton estimator This node estimates the 2.5D (x,y,theta) pose of nearby persons.. Code: [https://gitlab.inria.fr/spring/wp3_av_perception/front_fisheye_2d_body_pose_detector](https://gitlab.inria.fr/spring/wp3_av_perception/front_fisheye_2d_body_pose_detector)|
+| [group_detector](#group_detector) | INRIA | released | Group detection (incl. f-formations). Code: [https://gitlab.inria.fr/spring/wp4_behavior/group_detector](https://gitlab.inria.fr/spring/wp4_behavior/group_detector)|
+| [body_to_face_mapper](#body_to_face_mapper) | INRIA | released | Face-body matching. Code: [node associates detected bodies to detected faces in image-space. REPO:https://gitlab.inria.fr/spring/wp3_av_perception/body_to_face_mapper](node associates detected bodies to detected faces in image-space. REPO:https://gitlab.inria.fr/spring/wp3_av_perception/body_to_face_mapper)|
+| [body_3d_tracker](#body_3d_tracker) | INRIA | released | Laser-based 3D people pose estimation REPO:https://gitlab.inria.fr/spring/wp3_av_perception/body_3d_tracker|
+| [go_to_body_action_server](#go_to_body_action_server) | INRIA | released | Robot action server (body approach)|
+| [go_to_position_action_server](#go_to_position_action_server) | INRIA | released | Robot action server (navigation to location)|
+| [look_at_action_server](#look_at_action_server) | INRIA | released | Robot action server (generic 'look at' action)|
+| [look_at_person_server](#look_at_person_server) | INRIA | released | None|
+| [behavior_generator](#behavior_generator) | INRIA | released | . Code: [ https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior]( https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior)|
+| [pointcloud2occmap](#pointcloud2occmap) | INRIA | not yet implemented | |
+| [basestation_republisher](#basestation_republisher) | INRIA | released | Node to republish compressed video streams on the SPRING basestation. Code: [https://gitlab.inria.fr/spring/wp3_av_perception/docker_republish](https://gitlab.inria.fr/spring/wp3_av_perception/docker_republish)|
+| [front_fisheye_body_tracker](#front_fisheye_body_tracker) | INRIA | released | . Code: [ https://gitlab.inria.fr/spring/wp3_av_perception/multi-person_visual_tracker/]( https://gitlab.inria.fr/spring/wp3_av_perception/multi-person_visual_tracker/)|
+| [ hri_msgs](#hri_msgs) | PAL | released | ROS messages for the ROS4HRI standard. Code: [ git@gitlab:ros4hri/hri_msgs.git NOT EXECUTABLE]( git@gitlab:ros4hri/hri_msgs.git NOT EXECUTABLE)|
+| [ spring_msgs](#spring_msgs) | PAL | released | ROS messages. Code: [git@gitlab.inria.fr:spring/wp7_ari/spring_msgs.git NOT EXECUTABLE](git@gitlab.inria.fr:spring/wp7_ari/spring_msgs.git NOT EXECUTABLE)|
+| [respeaker_ros](#respeaker_ros) | PAL | released | Microphone array driver REPO:git@gitlab.inria.fr:spring/wp7_ari/respeaker_ros.git BIN:respeaker_multichan_node.py|
+| [fisheye](#fisheye) | PAL | released | frontal fisheye camera driver|
+| [raspicam](#raspicam) | PAL | released | RGB head camera driver|
+| [Robot functional layer](#robotfunctionallayer) | PAL | released | robot's hardware interfaces|
+| [hri_person_manager](#hri_person_manager) | PAL | released | Probabilistic fusion of faces, bodies, voices into persons. Code: [git@gitlab.inria.fr:spring/wp7_ari/hri_person_manager.git](git@gitlab.inria.fr:spring/wp7_ari/hri_person_manager.git)|
+| [torso_rgbd_camera](#torso_rgbd_camera) | PAL | released | Frontal RGB-D camera driver|
+| [people_facts](#people_facts) | PAL | released | Semantic bridge between human perception and the knowledge base. Code: [https://gitlab.inria.fr/spring/wp7_ari/people_facts](https://gitlab.inria.fr/spring/wp7_ari/people_facts)|
+| [knowledge_core](#knowledge_core) | PAL | released | Robot's RDF/OWL knowledge base. Code: [https://gitlab.inria.fr/spring/wp7_ari/knowledge_core](https://gitlab.inria.fr/spring/wp7_ari/knowledge_core)|
+| [ wp4_msgs](#wp4_msgs) | UNITN | released | ROS messages. Code: [git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git SUBFOLDER:wp4_msgs NOT EXECUTABLE](git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git SUBFOLDER:wp4_msgs NOT EXECUTABLE)|
+| [activity_recognition](#activity_recognition) | UNITN | not yet implemented | Activity recognition|
+| [emotion_estimation](#emotion_estimation) | UNITN | released | Non-verbal behaviour generation|
+| [face_tracker](#face_tracker) | UNITN | released | face detection and tracking. Code: [ https://gitlab.inria.fr/spring/wp4_behavior/face-tracker]( https://gitlab.inria.fr/spring/wp4_behavior/face-tracker)|
+| [depth_estimation](#depth_estimation) | UNITN | released | Monocular depth estimation. Code: [https://gitlab.inria.fr/spring/wp4_behavior/depth-estimation](https://gitlab.inria.fr/spring/wp4_behavior/depth-estimation)|
+| [human_2d_pose_estimation](#human_2d_pose_estimation) | UNITN | released | . Code: [https://gitlab.inria.fr/spring/wp4_behavior/human-2d-pose-estimation](https://gitlab.inria.fr/spring/wp4_behavior/human-2d-pose-estimation)|
+| [gaze_estimation](#gaze_estimation) | UNITN | released | Monocular gaze estimation on planar image This node uses deep learning to estimate, on a given frame, the focus of attention of a detected face. It outputs the 2D coordinate of the most likely focus of attention, in the image space. REPO:https://gitlab.inria.fr/spring/wp4_behavior/gaze-estimation|
+| [mask_detector](#mask_detector) | UNITN | released | . Code: [https://gitlab.inria.fr/spring/wp4_behavior/mask-detection BIN:mask_detector.py](https://gitlab.inria.fr/spring/wp4_behavior/mask-detection BIN:mask_detector.py)|
+| [soft_biometrics_estimator](#soft_biometrics_estimator) | UNITN | released | . Code: [git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git](git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git)|
+
+# Detailed description
+
+
+
+
+## BIU
+
+
+
+### audio_processing_mode {#audio_processing_mode}
+
+ This node performs: - speech echo cancelation, - single microphone audio enhancement Used for the single-speaker only pipeline.
+
+*The node audio_processing_mode (id: `audio_processing_mode`) is maintained by BIU.*
----
+#### Status
-### fformation
+Implemented. Current release/branch: BIU_dev
-Node *F-formation* (id: `fformation`) is overseen by UNITN.
+Source code repository: [https://gitlab.inria.fr/spring/wp3_av_perception/speech-enhancement SUBFOLDER:audio_processing ](https://gitlab.inria.fr/spring/wp3_av_perception/speech-enhancement SUBFOLDER:audio_processing )
+#### Inputs
-#### Status
+ - Topic subscription: `/audio/raw_audio [spring_msgs/RawAudioData]`
-**This node is currently auto-generated (mock-up)**
-#### Inputs/outputs
+#### Outputs
- - Input: `tf: /person_id` (tf)
- - Input: `/h/i/gaze [hri_msgs/Gaze]` (topic)
+ - Topic publication: `/audio/enh_audio [spring_msgs/RawAudioData]`
- - Output: `/h/i/groups [hri_msgs/Group]` (topic)
#### Dependencies
-- `tf/transform_listener`
-- `hri_msgs/Group`
-- `hri_msgs/Gaze`
+- `spring_msgs/RawAudioData`
----
-### social_scene_context_understanding
-Node *social_scene_context_understanding* (id: `social_scene_context_understanding`) is overseen by HWU.
+### riva_asr_0 {#riva_asr_0}
-REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git
-SUBFOLDER:social_scene_context_understanding
+
+
+*The node riva_asr_0 (id: `riva_asr_0`) is maintained by BIU.*
#### Status
-**Current release: spring_dev**
+Implemented. Current release/branch: main
-#### Inputs/outputs
+Source code repository: [https://gitlab.inria.fr/spring/wp3_av_perception/riva_asr_ros_client ](https://gitlab.inria.fr/spring/wp3_av_perception/riva_asr_ros_client )
- - Input: `scene graph` (undefined)
- - Output: `semantic description` (undefined)
+#### Inputs
-#### Dependencies
+ - Topic subscription: `/humans/voices/<id>/audio [audio_common_msgs/AudioData]`
-- `std_msgs/Empty`
+ - Topic subscription: `/h/v/tracked [hri_msgs/IdsList]`
----
+#### Outputs
+
+ - Topic publication: `/humans/voices/<id>/speech [hri_msgs/LiveSpeech]`
-### activityreco
-Node *Activity reco* (id: `activityreco`) is overseen by UNITN.
+#### Dependencies
+- `audio_common_msgs/AudioData`
+- `hri_msgs/IdsList`
+- `hri_msgs/LiveSpeech`
-#### Status
-**This node is currently auto-generated (mock-up)**
-#### Inputs/outputs
+### riva_asr_1 {#riva_asr_1}
- - Input: `/h/b/*/skeleton_2d [hri_msg/Skeleton2D]` (topic)
- - Output: `[?] output` (undefined)
-#### Dependencies
+*The node riva_asr_1 (id: `riva_asr_1`) is maintained by BIU.*
-- `hri_msg/Skeleton2D`
-- `std_msgs/Empty`
+#### Status
+Implemented. Current release/branch: main
----
+Source code repository: [https://gitlab.inria.fr/spring/wp3_av_perception/riva_asr_ros_client ](https://gitlab.inria.fr/spring/wp3_av_perception/riva_asr_ros_client )
-### respeaker_ros
-Node *respeaker_ros* (id: `respeaker_ros`) is overseen by PAL.
+#### Inputs
-REPO:git@gitlab.inria.fr:spring/wp7_ari/respeaker_ros.git BIN:respeaker_multichan_node.py
+ - Topic subscription: `/h/v/tracked [hri_msgs/IdsList]`
-#### Status
+ - Topic subscription: `/humans/voices/<id>/audio [audio_common_msgs/AudioData]`
-**Current release: master**
-#### Inputs/outputs
+#### Outputs
+ - Topic publication: `/humans/voices/<id>/speech [hri_msgs/LiveSpeech]`
- - Output: `/audio/raw_audio [respeaker_ros/RawAudioData]` (topic)
- - Output: `/audio/ego_audio [audio_common_msgs/AudioData]` (topic)
#### Dependencies
-- `respeaker_ros/RawAudioData`
+- `hri_msgs/IdsList`
+- `hri_msgs/LiveSpeech`
- `audio_common_msgs/AudioData`
----
-### mask_detector
-Node *mask_detector* (id: `mask_detector`) is overseen by UNITN.
+### speaker_extraction {#speaker_extraction}
-Detects presence of a facial mask
-REPO:git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git
-SUBFOLDER:wp4_people_characteristics
-BIN:mask_detector.py
+
+
+*The node speaker_extraction (id: `speaker_extraction`) is maintained by BIU.*
#### Status
-**Current release: master**
+This node is not yet implemented.
-#### Inputs/outputs
- - Input: `/humans/bodies/tracked [hri_msgs/IdsList]` (topic)
- - Input: `/h/b/*/cropped [sensor_msg/Image]` (topic)
+#### Inputs
- - Output: `/h/f/*/cropped [sensor_msg/Image]` (topic)
- - Output: `/humans/faces/tracked [hri_msgs/IdsList]` (topic)
- - Output: `/h/f/*/roi [sensor_msgs/RegionOfInterest]` (topic)
- - Output: `/h/f/*/has_mask [std_msgs/Bool]` (topic)
- - Output: `/humans/candidate_matches [hri_msgs/IdsMatch] [face <-> body]` (topic)
+ - Input: database of voice embeddings
+ - Topic subscription: `/audio/raw_audio [audio_common_msgs/AudioData]`
-#### Dependencies
-- `sensor_msg/Image`
-- `hri_msgs/IdsList`
-- `sensor_msgs/RegionOfInterest`
-- `std_msgs/Bool`
-- `face <-> body/face <-> body`
+#### Outputs
+ - Topic publication: `/audio/stream* [audio_common_msgs/AudioData]`
----
+ - Topic publication: `/audio/doa* [std_msgs/Float32]`
-### fisheye
-Node *fisheye* (id: `fisheye`) is overseen by PAL.
+#### Dependencies
+- `audio_common_msgs/AudioData`
+- `std_msgs/Empty`
+- `std_msgs/Float32`
-#### Status
-**This node is currently auto-generated (mock-up)**
-#### Inputs/outputs
+### speaker_separation {#speaker_separation}
- - Output: `/torso_front_camera/color/image_raw [sensor_msgs/Image]` (topic)
-#### Dependencies
+*The node speaker_separation (id: `speaker_separation`) is maintained by BIU.*
-- `sensor_msgs/Image`
+#### Status
+Implemented. Current release/branch: main
----
+Source code repository: [ git@gitlab.inria.fr:spring/wp3_av_perception/audio_separation.git]( git@gitlab.inria.fr:spring/wp3_av_perception/audio_separation.git)
-### soft_biometrics_estimator
-Node *soft_biometrics_estimator* (id: `soft_biometrics_estimator`) is overseen by UNITN.
+#### Inputs
-Detects age/gender
-REPO:git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git
-SUBFOLDER:wp4_people_characteristics
-BIN:soft_biometrics_estimator.py
+ - Topic subscription: `/audio/raw_audio [audio_common_msgs/AudioData]`
-#### Status
-**Current release: master**
+#### Outputs
+
+ - Topic publication: `/audio/speaker1/doa [std_msgs/Float32]`
-#### Inputs/outputs
+ - Topic publication: `/audio/speaker2/doa [std_msgs/Float32]`
- - Input: `/humans/faces/tracked [hri_msgs/IdsList]` (topic)
- - Input: `/head_front_camera/color/image_raw/compressed [sensor_msgs/CompressedImage]` (topic)
+ - Topic publication: `/audio/speaker2/stream [audio_common_msgs/AudioData]`
+
+ - Topic publication: `/audio/speaker1/stream [audio_common_msgs/AudioData]`
- - Output: `/humans/candidate_matches [hri_msgs/IdsMatch]` (topic)
- - Output: `/h/f/*/softbiometrics [hri_msgs/SoftBiometrics]` (topic)
#### Dependencies
-- `hri_msgs/IdsList`
-- `hri_msgs/IdsMatch`
-- `hri_msgs/SoftBiometrics`
-- `sensor_msgs/CompressedImage`
+- `std_msgs/Float32`
+- `audio_common_msgs/AudioData`
+
----
-### tracker
+### speakers_id {#speakers_id}
-Node *tracker* (id: `tracker`) is overseen by INRIA.
-This code is primarily developed at INRIA by Luis Gomez Camara.
-REPO: https://gitlab.inria.fr/spring/wp3_av_perception/multi-person_visual_tracker/
+
+*The node speakers_id (id: `speakers_id`) is maintained by BIU.*
#### Status
-**Current release: devel**
+Implemented. Current release/branch: dual_speaker_ecapa
-#### Inputs/outputs
+Source code repository: [git@gitlab.inria.fr:spring/wp4_behavior/non-integrated-contributions/speaker_identification.git](git@gitlab.inria.fr:spring/wp4_behavior/non-integrated-contributions/speaker_identification.git)
- - Input: `/front_camera_basetation/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]` (topic)
- - Output: `/h/b/*/cropped [sensor_msg/Image]` (topic)
- - Output: `/h/b/*/roi [sensor_msgs/RegionOfInterest` (undefined)
- - Output: `/humans/bodies/tracked [hri_msgs/IdsList]` (topic)
- - Output: `/tracker/tracker_output [std_msgs/String]` (topic)
+#### Inputs
-#### Dependencies
+ - Topic subscription: `/humans/voices/speaker1/stream [audio_common_msgs/AudioData]`
-- `sensor_msgs/CompressedImage`
-- `sensor_msg/Image`
-- `std_msgs/Empty`
-- `hri_msgs/IdsList`
-- `std_msgs/String`
+ - Topic subscription: `/humans/voices/speaker1/doa [std_msgs/Float32]`
+ - Topic subscription: `/humans/voices/speaker2/doa [std_msgs/Float32]`
----
+ - Topic subscription: `/audio/ego_audio [audio_common_msgs/AudioData]`
-### people_facts
+ - Topic subscription: `/humans/voices/speaker2/stream [audio_common_msgs/AudioData]`
-Node *people_facts* (id: `people_facts`) is overseen by PAL.
+#### Outputs
+ - Topic publication: `/h/v/tracked [hri_msgs/IdsList]`
-#### Status
+ - Output: /audio/is_listening
+ - Output: /audio/vad
+ - Output: `tf: /voice_*` (tf)
+ - Topic publication: `/humans/voices/<id>/audio [audio_common_msgs/AudioData]`
-**This node is currently auto-generated (mock-up)**
+ - Topic publication: `/h/v/known [hri_msgs/IdsList]`
-#### Inputs/outputs
+ - Topic publication: `/humans/voices/<id>/is_speaking [std_msgs/Bool]`
- - Input: `/h/p/...` (undefined)
+ - Topic publication: `/humans/voices/<id>/doa [std_msgs/Float32]`
- - Output: `/kb/add_fact [std_msgs/String]` (topic)
#### Dependencies
+- `hri_msgs/IdsList`
- `std_msgs/Empty`
-- `std_msgs/String`
+- `audio_common_msgs/AudioData`
+- `tf/transform_broadcaster`
+- `std_msgs/Float32`
+- `std_msgs/Bool`
----
-### raspicam
-Node *raspicam* (id: `raspicam`) is overseen by PAL.
+### Voice-body matching {#voicebodymatching}
+
+*The node Voice-body matching (id: `voicebodymatching`) is maintained by BIU.*
#### Status
-**This node is currently auto-generated (mock-up)**
+This node is not yet implemented.
+
+
+#### Inputs
+
+ - Input: `tf: /body_*` (tf)
+ - Input: `tf: /voice_*` (tf)
+ - Input: /humans/bodies/tracked
+ - Input: /humans/voices/tracked
-#### Inputs/outputs
+#### Outputs
+ - Topic publication: `/humans/candidate_matches [hri_msgs/IdsMatch]`
- - Output: `/head_front_camera/color/image_raw [sensor_msgs/Image]` (topic)
#### Dependencies
-- `sensor_msgs/Image`
+- `tf/transform_listener`
+- `std_msgs/Empty`
+- `hri_msgs/IdsMatch`
----
-### google_translate
-Node *google_translate* (id: `google_translate`) is overseen by HWU.
+## CVUT
-#### Status
+### HLoc {#hloc}
-**This node is currently auto-generated (mock-up)**
+ Docker not yet published
-#### Inputs/outputs
+*The node HLoc (id: `hloc`) is maintained by CVUT.*
- - Input: `/get_answer` (undefined)
+#### Status
- - Output: `/response` (undefined)
+Implemented. Current release/branch: main
-#### Dependencies
+Source code repository: [git@gitlab.inria.fr:spring/wp2_mapping_localization/hloc-mapping-localization.git](git@gitlab.inria.fr:spring/wp2_mapping_localization/hloc-mapping-localization.git)
-- `std_msgs/Empty`
+#### Inputs
----
+ - Input: `tf: camera frames ` (tf)
+ - Topic subscription: `/robot_pose [geometry_msgs/PoseWithCovarianceStamped]`
-### front_fisheye_basestation_node
+ - Input: /front_camera/fisheye/image_raw/compressed
+ - Input: /rear_camera/fisheye/image_raw/compressed
-Node *front_fisheye_basestation_node* (id: `front_fisheye_basestation_node`) is overseen by INRIA.
+#### Outputs
+ - Output: ROS service: pose + covariance
+#### Dependencies
-#### Status
+- `tf/transform_listener`
+- `std_msgs/Empty`
+- `geometry_msgs/PoseWithCovarianceStamped`
-**This node is currently auto-generated (mock-up)**
-#### Inputs/outputs
- - Input: `/front_camera/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]` (topic)
- - Input: `/head_front_camera/color/image_raw/compressed` (undefined)
- - Input: `/torso_front_camera/aligned_depth_to_color/image_raw/theora` (undefined)
- - Input: `/torso_front_camera/color/image_raw/theora` (undefined)
- - Output: `/*_basestation/...` (undefined)
+### slam_rtabmap {#slam_rtabmap}
-#### Dependencies
+ slam_rtabmap is...
-- `std_msgs/Empty`
-- `sensor_msgs/CompressedImage`
+*The node slam_rtabmap (id: `slam_rtabmap`) is maintained by CVUT.*
+#### Status
----
+Implemented. Current release/branch: 0.0.1
-### controller_node
+Source code repository: []()
-Node *controller_node* (id: `controller_node`) is overseen by INRIA.
-The code is primarily developed at INRIA by Timothée Wintz.
-REPO: https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior
-SUBFOLDER:src/robot_behavior
+#### Inputs
-#### Status
+ - Input: [call HLoc to perform global localization]
+ - Input: torso_front_camera/infra*/*
+ - Input: /torso_front_camera/imu
-**Current release: devel**
+#### Outputs
-#### Inputs/outputs
+ - Topic publication: `/robot_pose [geometry_msgs/PoseWithCovarianceStamped]`
- - Input: `/go_towards [GoTowards]` (topic)
- - Input: `/joint_states` (undefined)
- - Input: `tf: /person_id` (tf)
- - Input: `/humans/persons/tracked` (undefined)
- - Input: `/look_at [LookAt]` (topic)
- - Input: `/rtabmap/proj_map [OccupancyGrid]` (topic)
- - Input: `/rtabmap/rtabmap_local_map_rectified [OccupancyGrid]` (topic)
- - Input: `/navigate [Navigate]` (topic)
- - Input: `status` (undefined)
+ - Output: `tf: /odom` (tf)
+ - Topic publication: `/slam/occupancy_map [OccupancyGrid/OccupancyGrid]`
- - Output: `/h/i/groups [hri_msgs/Group]` (topic)
- - Output: `tf: ?` (tf)
- - Output: `/nav_vel [Twist]` (topic)
- - Output: `status` (undefined)
- - Output: `/head_controller/command [JointTrajectory]` (topic)
#### Dependencies
-- `hri_msgs/Group`
-- `GoTowards/GoTowards`
+- `geometry_msgs/PoseWithCovarianceStamped`
- `std_msgs/Empty`
-- `tf/transform_listener`
- `tf/transform_broadcaster`
-- `LookAt/LookAt`
- `OccupancyGrid/OccupancyGrid`
-- `Twist/Twist`
-- `Navigate/Navigate`
-- `JointTrajectory/JointTrajectory`
----
-### interaction_manager
-Node *interaction_manager* (id: `interaction_manager`) is overseen by HWU.
+### Yolact3D {#yolact3d}
-REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git
-SUBFOLDER:interaction_manager
+ Publishes a set of 3D points with the probability distribution of object classes at that point. ETA: not clear yet.
-#### Status
+*The node Yolact3D (id: `yolact3d`) is maintained by CVUT.*
-**Current release: spring_dev**
+#### Status
-#### Inputs/outputs
+This node is not yet implemented.
- - Input: `TF` (undefined)
- - Input: `robot state` (undefined)
- - Input: `/h/p/*/softbiometrics [hri_msgs/Softbiometrics]` (topic)
- - Input: `dialogue state` (undefined)
- - Input: `input` (undefined)
- - Input: `semantic scene description` (undefined)
- - Output: `gestures` (undefined)
+#### Inputs
-#### Dependencies
+ - Topic subscription: `/slam/occupancy_map [OccupancyGrid/OccupancyGrid]`
-- `std_msgs/Empty`
-- `hri_msgs/Softbiometrics`
+ - Input: tf
+ - Topic subscription: `/torso_front_camera/color/image_raw [sensor_msgs/Image]`
+ - Input: /torso_front_camera/aligned_depth_to_color [sensor_msgs/Image
----
+#### Outputs
-### go_towards_action_server
+ - Topic publication: `/yolact3d/detected_objects_distribution [yolact3d/Yolact3DObjects]`
-Node *go_towards_action_server* (id: `go_towards_action_server`) is overseen by HWU.
+#### Dependencies
+- `OccupancyGrid/OccupancyGrid`
+- `yolact3d/Yolact3DObjects`
+- `std_msgs/Empty`
+- `sensor_msgs/Image`
-#### Status
-**This node is currently auto-generated (mock-up)**
-#### Inputs/outputs
- - Input: `goal` (undefined)
- - Input: `/controller_status [ControllerStatus]` (topic)
+## ERM
- - Output: `/go_towards [GoTowards]` (topic)
-#### Dependencies
-- `GoTowards/GoTowards`
-- `std_msgs/Empty`
-- `ControllerStatus/ControllerStatus`
+### exp_gui {#exp_gui}
----
-### republish_from_rtab_map_node
+*The node exp_gui (id: `exp_gui`) is maintained by ERM.*
-Node *republish_from_rtab_map_node* (id: `republish_from_rtab_map_node`) is overseen by INRIA.
+#### Status
-Purpose:
-Provide a local cost map from the global map
+Implemented. Current release/branch: main
-#### Status
+Source code repository: [git@gitlab.inria.fr:spring/wp1_user_application/exp-gui.git](git@gitlab.inria.fr:spring/wp1_user_application/exp-gui.git)
-**Current release: 0.0.1**
-#### Inputs/outputs
+#### Inputs
- - Input: `/rtabmap/proj_map [OccupancyGrid]` (topic)
- - Input: `/tracked_pose_2df/frame [openpose/Frame]` (topic)
+ - Input: /dialogue_start/status
+ - Input: /diagnostics
+ - Input: /slam/localization_pose
- - Output: `tf: ?` (tf)
- - Output: `/rtabmap/rtabmap_local_map_rectified [OccupancyGrid]` (topic)
+#### Outputs
-#### Dependencies
+ - Output: /dialogue_start/goal [dialogue_msgs/StartDialogueActionGoal]
+ - Topic publication: `/experiment_exporter/error_feedback [String/String]`
-- `OccupancyGrid/OccupancyGrid`
-- `tf/transform_broadcaster`
-- `openpose/Frame`
+ - Topic publication: `/experiment_exporter/file_update [String/String]`
+ - Topic publication: `/dialogue_arbiter/reset [Empty/Empty]`
----
+ - Topic publication: `/interaction_manager/start [Empty/Empty]`
-### track_frame_node
+ - Topic publication: `/web/go_to [pal_web_msgs/WebGoTo]`
-Node *track_frame_node* (id: `track_frame_node`) is overseen by INRIA.
-MOCK: People 3D tracker [position/orientation] is...
+#### Dependencies
-#### Status
+- `std_msgs/Empty`
+- `String/String`
+- `Empty/Empty`
+- `pal_web_msgs/WebGoTo`
-**Current release: 0.0.1**
-#### Inputs/outputs
- - Input: `/tracked_pose_2df/frame [openpose/Frame] [feet position]` (topic)
- - Output: `/h/b/*/roi [sensor_msgs/RegionOfInterest` (undefined)
- - Output: `/humans/bodies/tracked [hri_msgs/IdsList]` (topic)
- - Output: `/h/b/*/cropped [sensor_msg/Image]` (topic)
- - Output: `/humans/candidate_matches [hri_msgs/IdsMatch] [anonymous bodies]` (topic)
- - Output: `tf: /body_id` (tf)
- - Output: `/h/b/*/skeleton_2d [hri_msg/Skeleton2D]` (topic)
+### experiment_exporter {#experiment_exporter}
-#### Dependencies
-- `std_msgs/Empty`
-- `hri_msgs/IdsList`
-- `feet position/feet position`
-- `sensor_msg/Image`
-- `anonymous bodies/anonymous bodies`
-- `tf/transform_broadcaster`
-- `hri_msg/Skeleton2D`
+*The node experiment_exporter (id: `experiment_exporter`) is maintained by ERM.*
----
+#### Status
-### knowledge_core
+Implemented. Current release/branch: main
-Node *knowledge_core* (id: `knowledge_core`) is overseen by PAL.
+Source code repository: [git@gitlab.inria.fr:spring/wp1_user_application/export-dialog.git](git@gitlab.inria.fr:spring/wp1_user_application/export-dialog.git)
+#### Inputs
-#### Status
+ - Topic subscription: `/experiment_exporter/file_update [String/String]`
-**This node is currently auto-generated (mock-up)**
+ - Topic subscription: `/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]`
-#### Inputs/outputs
+ - Topic subscription: `/experiment_exporter/error_feedback [String/String]`
- - Input: `/kb/add_fact [std_msgs/String]` (topic)
+ - Topic subscription: `/dialogue_say/text [String/String]`
- - Output: `service: /kb/query` (undefined)
-#### Dependencies
+#### Outputs
-- `std_msgs/Empty`
-- `std_msgs/String`
+#### Dependencies
----
+- `String/String`
+- `dialogue_msgs/EndOfSpeech`
-### semanticmapping
-Node *Semantic mapping* (id: `semanticmapping`) is overseen by CVUT.
+### robot gui {#robotgui}
-#### Status
-**This node is currently auto-generated (mock-up)**
-#### Inputs/outputs
+*The node robot gui (id: `robotgui`) is maintained by ERM.*
- - Input: `dense 3d map` (undefined)
- - Input: `/detected_objects [spring_msgs/DetectedObjectArray]` (topic)
+#### Status
- - Output: `scene graph` (undefined)
+Implemented. Current release/branch: master
-#### Dependencies
+Source code repository: [git@gitlab.inria.fr:spring/wp1_user_application/user_application.git](git@gitlab.inria.fr:spring/wp1_user_application/user_application.git)
-- `std_msgs/Empty`
-- `spring_msgs/DetectedObjectArray`
+#### Inputs
----
+ - Input: /dialogue_say/text
+ - Input: /tts/feedback
+ - Input: /human_dialogue
+ - Input: /audio/is_listening
-### social_strategy_supervisor
+#### Outputs
-Node *social_strategy_supervisor* (id: `social_strategy_supervisor`) is overseen by HWU.
+#### Dependencies
+- `std_msgs/Empty`
-#### Status
-**This node is currently auto-generated (mock-up)**
-#### Inputs/outputs
+## HWU
- - Output: `output?` (undefined)
-#### Dependencies
-- `std_msgs/Empty`
+### audio_msgs {#audio_msgs}
----
-### userattentionestimation
+*The node audio_msgs (id: `audio_msgs`) is maintained by HWU.*
-Node *User attention estimation* (id: `userattentionestimation`) is overseen by UNITN.
+#### Status
+Implemented. Current release/branch: spring_dev
+Source code repository: []()
-#### Status
-**This node is currently auto-generated (mock-up)**
+#### Inputs
-#### Inputs/outputs
- - Input: `TF (faces)` (undefined)
- - Input: `/h/f/*/roi [hri_msgs/RegionOfInterest]` (topic)
+#### Outputs
- - Output: `x,y + attention heatmap` (undefined)
- - Output: `tf: /face_id_gaze` (tf)
-#### Dependencies
-- `std_msgs/Empty`
-- `hri_msgs/RegionOfInterest`
-- `tf/transform_broadcaster`
----
+### dialogue_arbitrer {#dialogue_arbitrer}
-### spring_msgs
-Node * spring_msgs* (id: `spring_msgs`) is overseen by PAL.
-REPO:git@gitlab.inria.fr:spring/wp7_ari/spring_msgs.git NOT EXECUTABLE
+*The node dialogue_arbitrer (id: `dialogue_arbitrer`) is maintained by HWU.*
#### Status
-**Current release: 0.0.2**
-
-#### Inputs/outputs
+Implemented. Current release/branch: main
+Source code repository: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git SUBFOLDER:dialogue_arbiter](git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git SUBFOLDER:dialogue_arbiter)
-#### Dependencies
+#### Inputs
+ - Topic subscription: `/dialogue_arbitrer/update [service/service]`
+ - Topic subscription: `/dialogue_start [action server/action server]`
----
+ - Topic subscription: `/dialogue_arbitrer/query [service/service]`
-### speech
+ - Topic subscription: `/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]`
-Node *speech* (id: `speech`) is overseen by HWU.
+ - Topic subscription: `/register_server [service/service]`
-REPO:https://gitlab.inria.fr/spring/wp5_spoken_conversations/asr
-SUBFOLDER:google_asr/google_asr
-#### Status
+#### Outputs
-**Current release: BIU_dev**
+ - Output: /human_dialogue
+ - Topic publication: `/task*_ros_server_action [action/action]`
-#### Inputs/outputs
+ - Topic publication: `/get_answer [service/service]`
- - Input: `/audio/postprocess_audio_streams [audio_common_msgs/AudioData]` (topic)
+ - Topic publication: `/dialogue_say/say [service/service]`
- - Output: `/audio/speech_streams [std_msgs/String]` (topic)
#### Dependencies
-- `audio_common_msgs/AudioData`
-- `std_msgs/String`
+- `std_msgs/Empty`
+- `service/service`
+- `action server/action server`
+- `action/action`
+- `dialogue_msgs/EndOfSpeech`
----
-### gaze_estimation
-Node *gaze_estimation* (id: `gaze_estimation`) is overseen by UNITN.
+### dialogue_nlp {#dialogue_nlp}
+
+*The node dialogue_nlp (id: `dialogue_nlp`) is maintained by HWU.*
#### Status
-**This node is currently auto-generated (mock-up)**
-
-#### Inputs/outputs
+Implemented. Current release/branch: 0.0.1
- - Input: `/h/f/*/roi [sensor_msgs/RegionOfInterest]` (topic)
- - Input: `vision_msgs/depth_estimation [DepthFrame]` (undefined)
+Source code repository: []()
- - Output: `GazeFrame [2D point in heatmap]` (undefined)
-#### Dependencies
-
-- `sensor_msgs/RegionOfInterest`
-- `std_msgs/Empty`
+#### Inputs
+ - Topic subscription: `/get_answer [service/service]`
----
-### nonverbalbehaviours
+#### Outputs
-Node *Non-verbal behaviours* (id: `nonverbalbehaviours`) is overseen by UNITN.
+ - Topic publication: `/dialogue_nlp/nlu [JSON String/JSON String]`
+#### Dependencies
-#### Status
+- `service/service`
+- `JSON String/JSON String`
-**This node is currently auto-generated (mock-up)**
-#### Inputs/outputs
- - Input: `/h/v/*/raw_audio [spring_msgs/RawAudioData]` (topic)
- - Input: `/h/f/*/roi [hri_msgs/RegionOfInterest]` (topic)
- - Output: `/h/f/*/expression [hri_msgs/Expression]` (topic)
+### dialogue_say {#dialogue_say}
-#### Dependencies
-- `spring_msgs/RawAudioData`
-- `hri_msgs/Expression`
-- `hri_msgs/RegionOfInterest`
+*The node dialogue_say (id: `dialogue_say`) is maintained by HWU.*
----
+#### Status
-### alana_node
+Implemented. Current release/branch: main
-Node *alana_node* (id: `alana_node`) is overseen by HWU.
+Source code repository: []()
+#### Inputs
-#### Status
+ - Topic subscription: `/dialogue_say/say [service/service]`
-**This node is currently auto-generated (mock-up)**
-#### Inputs/outputs
+#### Outputs
- - Input: `/get_answer` (undefined)
+ - Output: /tts/feedback
+ - Topic publication: `/dialogue_say/text [String/String]`
- - Output: `/response` (undefined)
#### Dependencies
+- `service/service`
- `std_msgs/Empty`
+- `String/String`
----
-### torso_rgbd_camera
-Node *torso_rgbd_camera* (id: `torso_rgbd_camera`) is overseen by PAL.
+### dialogue_speech {#dialogue_speech}
+*The node dialogue_speech (id: `dialogue_speech`) is maintained by HWU.*
+
#### Status
-**This node is currently auto-generated (mock-up)**
+Implemented. Current release/branch: master
-#### Inputs/outputs
+Source code repository: []()
- - Output: `/torso_front_camera/imu` (undefined)
- - Output: `torso_front_camera/infra*/*` (undefined)
- - Output: `/torso_front_camera/color/image_raw [sensor_msgs/Image]` (topic)
+#### Inputs
-#### Dependencies
+ - Topic subscription: `/humans/voices/<id>/speech [hri_msgs/LiveSpeech]`
-- `std_msgs/Empty`
-- `sensor_msgs/Image`
+#### Outputs
----
+ - Topic publication: `/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]`
-### objectdetectionidentificationlocalisation
-Node *Object detection/identification/localisation* (id: `objectdetectionidentificationlocalisation`) is overseen by CVUT.
+#### Dependencies
+- `dialogue_msgs/EndOfSpeech`
+- `hri_msgs/LiveSpeech`
-#### Status
-**This node is currently auto-generated (mock-up)**
-#### Inputs/outputs
+### interaction_manager {#interaction_manager}
- - Input: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic)
- - Output: `/detected_objects [spring_msgs/DetectedObjectArray]` (topic)
-#### Dependencies
+*The node interaction_manager (id: `interaction_manager`) is maintained by HWU.*
-- `sensor_msgs/Image`
-- `spring_msgs/DetectedObjectArray`
+#### Status
+Implemented. Current release/branch: spring_dev
----
+Source code repository: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager](git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager)
-### inlocserver
-Node * InLoc Server* (id: `inlocserver`) is overseen by CVUT.
+#### Inputs
+ - Topic subscription: `/interaction_manager/update [service/service]`
+ - Topic subscription: `/interaction_manager/query [service/service]`
-#### Status
+ - Input: TF
+ - Topic subscription: `/humans/persons/<id>/softbiometrics [hri_msgs/Softbiometrics]`
-**This node is currently auto-generated (mock-up)**
+ - Topic subscription: `/controller_status [ControllerStatus/ControllerStatus]`
-#### Inputs/outputs
+ - Topic subscription: `/dialogue_nlp/nlu [JSON String/JSON String]`
+ - Input: semantic scene description [ON HOLD]
+ - Input: input
+ - Topic subscription: `/register_server [service/service]`
-#### Dependencies
+#### Outputs
+ - Topic publication: `/task*_ros_server_action [action/action]`
+ - Output: /dialogue_start
+ - Output: /navigation goals
+ - Output: /look_at goals
+ - Output: gestures
----
+#### Dependencies
-### inlocros
+- `service/service`
+- `action/action`
+- `std_msgs/Empty`
+- `hri_msgs/Softbiometrics`
+- `ControllerStatus/ControllerStatus`
+- `JSON String/JSON String`
-Node *InLoc-ROS* (id: `inlocros`) is overseen by CVUT.
-#### Status
+### interaction_manager_msgs {#interaction_manager_msgs}
-**This node is currently auto-generated (mock-up)**
-#### Inputs/outputs
- - Input: `localisation prior` (undefined)
- - Input: `/camera_torso/color/image_torso [sensor_msgs/Image]` (topic)
- - Input: `/camera_head/color/image_head [sensor_msgs/Image]` (topic)
+*The node interaction_manager_msgs (id: `interaction_manager_msgs`) is maintained by HWU.*
- - Output: `dense 3d map` (undefined)
- - Output: `tf: /odom` (tf)
+#### Status
-#### Dependencies
+Implemented. Current release/branch: spring_dev
-- `std_msgs/Empty`
-- `sensor_msgs/Image`
-- `tf/transform_broadcaster`
+Source code repository: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager_msgs NOT EXECUTABLE](git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager_msgs NOT EXECUTABLE)
----
+#### Inputs
-### voicebodymatching
-Node *Voice-body matching* (id: `voicebodymatching`) is overseen by BIU.
+#### Outputs
-#### Status
-**This node is currently auto-generated (mock-up)**
-#### Inputs/outputs
+### recipe_planner {#recipe_planner}
- - Input: `tf: /voice_id` (tf)
- - Input: `tf: /body_id` (tf)
- - Output: `/humans/candidate_matches [hri_msgs/IdsMatch] [body<->voice]` (topic)
-#### Dependencies
+*The node recipe_planner (id: `recipe_planner`) is maintained by HWU.*
-- `tf/transform_listener`
-- `body<->voice/body<->voice`
+#### Status
+Implemented. Current release/branch: spring_dev
----
+Source code repository: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git](git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git)
-### depth_estimation
-Node *depth_estimation* (id: `depth_estimation`) is overseen by UNITN.
+#### Inputs
+ - Input: semantic scene description
+ - Topic subscription: `/task*_ros_server_action [action/action]`
+ - Input: PDDL yaml library
+ - Topic subscription: `/humans/persons/<id>/softbiometrics [hri_msgs/Softbiometrics]`
-#### Status
-**This node is currently auto-generated (mock-up)**
+#### Outputs
-#### Inputs/outputs
+ - Output: /queries
+ - Output: /updates
+ - Topic publication: `/RPN [action/action]`
- - Input: `/head_front_camera/color/image_raw/compressed [sensor_msgs/CompressedImage]` (topic)
+ - Topic publication: `/register_server [service/service]`
- - Output: `vision_msgs/depth_estimation [DepthFrame]` (undefined)
#### Dependencies
-- `sensor_msgs/CompressedImage`
- `std_msgs/Empty`
+- `action/action`
+- `service/service`
+- `hri_msgs/Softbiometrics`
+
----
-### rtabmap
+### robot_behaviour_msgs {#robot_behaviour_msgs}
-Node *rtabmap* (id: `rtabmap`) is overseen by INRIA.
+*The node robot_behaviour_msgs (id: `robot_behaviour_msgs`) is maintained by HWU.*
#### Status
-**This node is currently auto-generated (mock-up)**
+Implemented. Current release/branch: spring_dev
-#### Inputs/outputs
+Source code repository: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git SUBFOLDER:robot_behaviour_msgs NOT EXECUTABLE](git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git SUBFOLDER:robot_behaviour_msgs NOT EXECUTABLE)
- - Input: `/torso_front_camera/imu` (undefined)
- - Input: `torso_front_camera/infra*/*` (undefined)
- - Output: `/rtabmap/proj_map [OccupancyGrid]` (topic)
- - Output: `tf: /odom` (tf)
+#### Inputs
-#### Dependencies
-- `OccupancyGrid/OccupancyGrid`
-- `std_msgs/Empty`
-- `tf/transform_broadcaster`
+#### Outputs
+
----
-### robotfunctionallayer
-Node *Robot functional layer* (id: `robotfunctionallayer`) is overseen by PAL.
+### ros_petri_net_node {#ros_petri_net_node}
+ ros_petri_net_node is...
+*The node ros_petri_net_node (id: `ros_petri_net_node`) is maintained by HWU.*
#### Status
-**This node is currently auto-generated (mock-up)**
+Implemented. Current release/branch: 0.0.1
+
+Source code repository: []()
+
+
+#### Inputs
+
+ - Topic subscription: `/RPN [action server/action server]`
-#### Inputs/outputs
- - Input: `input` (undefined)
+#### Outputs
- - Output: `/joint_states` (undefined)
#### Dependencies
-- `std_msgs/Empty`
+- `action server/action server`
----
-### ros_petri_net_node
-Node *ros_petri_net_node* (id: `ros_petri_net_node`) is overseen by HWU.
+### social_scene_msgs {#social_scene_msgs}
+*The node social_scene_msgs (id: `social_scene_msgs`) is maintained by HWU.*
+
#### Status
-**This node is currently auto-generated (mock-up)**
+Implemented. Current release/branch: spring_dev
-#### Inputs/outputs
+Source code repository: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:social_scene_msgs NOT EXECUTABLE](git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:social_scene_msgs NOT EXECUTABLE)
- - Input: `plan` (undefined)
- - Output: `look_at goals` (undefined)
- - Output: `nav goals` (undefined)
- - Output: `go_towards goals` (undefined)
+#### Inputs
-#### Dependencies
-- `std_msgs/Empty`
+#### Outputs
----
-### social_state_analyzer
-Node *social_state_analyzer* (id: `social_state_analyzer`) is overseen by HWU.
+### social_state_analyzer {#social_state_analyzer}
+
+
+*The node social_state_analyzer (id: `social_state_analyzer`) is maintained by HWU.*
#### Status
-**This node is currently auto-generated (mock-up)**
+Implemented. Current release/branch: 0.0.1
+
+Source code repository: []()
-#### Inputs/outputs
- - Input: `/humans/persons/tracked` (undefined)
+#### Inputs
- - Output: `output?` (undefined)
+ - Input: /humans/persons/tracked
+ - Input: kb
+
+#### Outputs
+
+ - Output: output?
#### Dependencies
- `std_msgs/Empty`
----
-
-### audio_processing_mode
-Node *audio_processing_mode* (id: `audio_processing_mode`) is overseen by BIU.
-[update 05/22]
-- single microphone improvement
+### social_strategy_supervisor {#social_strategy_supervisor}
-This node does:
+
- - speech echo cancelation, - speech enhancement, - speech separation and diarization REPO:https://gitlab.inria.fr/spring/wp3_av_perception/speech-enhancement SUBFOLDER:audio_processing
+*The node social_strategy_supervisor (id: `social_strategy_supervisor`) is maintained by HWU.*
#### Status
-**Current release: BIU_dev**
+Implemented. Current release/branch: 0.0.1
-#### Inputs/outputs
+Source code repository: []()
- - Input: `/audio/ego_audio [audio_common_msgs/AudioData]` (topic)
- - Input: `sound localization` (undefined)
- - Input: `/audio/raw_audio [spring_msgs/RawAudioData]` (topic)
- - Output: `/audio/enh_audio [spring_msgs/RawAudioData]` (topic)
+#### Inputs
-#### Dependencies
-- `spring_msgs/RawAudioData`
-- `audio_common_msgs/AudioData`
-- `std_msgs/Empty`
+#### Outputs
+ - Output: output?
----
+#### Dependencies
-### dialogue_say
+- `std_msgs/Empty`
-Node *dialogue_say* (id: `dialogue_say`) is overseen by PAL.
-#### Status
+## INRIA
-**This node is currently auto-generated (mock-up)**
-#### Inputs/outputs
- - Input: `speech [std_msgs/String]` (undefined)
+### basestation_republisher {#basestation_republisher}
- - Output: `/tts/feedback` (undefined)
-#### Dependencies
-- `std_msgs/Empty`
+*The node basestation_republisher (id: `basestation_republisher`) is maintained by INRIA.*
+#### Status
----
+Implemented. Current release/branch: master
-### speakeridentification
+Source code repository: [https://gitlab.inria.fr/spring/wp3_av_perception/docker_republish](https://gitlab.inria.fr/spring/wp3_av_perception/docker_republish)
-Node *Speaker identification* (id: `speakeridentification`) is overseen by BIU.
-- online services
-- not started yet
+#### Inputs
-#### Status
+ - Input: /torso_front_camera/aligned_depth_to_color/image_raw/theora
+ - Topic subscription: `/front_camera/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]`
+
+ - Input: /torso_front_camera/color/image_raw/theora
+ - Input: /head_front_camera/color/image_raw/compressed
-**This node is currently auto-generated (mock-up)**
+#### Outputs
-#### Inputs/outputs
+ - Topic publication: `/*_basestation/head_front_camera/... [sensor_msgs/Image]`
- - Input: `/audio/audio_sources [spring_msgs/RawAudioData[]]` (topic)
- - Input: `tracking information` (undefined)
+ - Topic publication: `/*_basestation/fisheye/... [sensor_msgs/Image]`
- - Output: `/h/v/*/doa` (undefined)
- - Output: `/humans/candidate_matches [hri_msgs/IdsMatch] [person<->voice]` (topic)
- - Output: `tf: /voice_id` (tf)
- - Output: `/h/v/*/raw_audio [spring_msgs/RawAudioData]` (topic)
#### Dependencies
- `std_msgs/Empty`
-- `person<->voice/person<->voice`
-- `tf/transform_broadcaster`
-- `spring_msgs/RawAudioData[]`
-- `spring_msgs/RawAudioData`
+- `sensor_msgs/CompressedImage`
+- `sensor_msgs/Image`
----
-### robotgui
-Node *Robot GUI* (id: `robotgui`) is overseen by ERM.
+### behavior_generator {#behavior_generator}
+ The code is primarily developed at INRIA by Timothée Wintz.
+*The node behavior_generator (id: `behavior_generator`) is maintained by INRIA.*
#### Status
-**This node is currently auto-generated (mock-up)**
+Implemented. Current release/branch: devel
-#### Inputs/outputs
+Source code repository: [ https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior]( https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior)
- - Input: `speech output` (undefined)
- - Input: `/tts/feedback` (undefined)
- - Input: `/h/v/*/speech [hri_msgs/LiveSpeech]` (topic)
- - Input: `additional support material` (undefined)
+#### Inputs
-#### Dependencies
+ - Input: /h/p/tracked
+ - Topic subscription: `/look_at [LookAt/LookAt]`
+
+ - Topic subscription: `/go_towards [GoTowards/GoTowards]`
+
+ - Input: `tf: /body_*` (tf)
+ - Input: /h/b/tracked
+ - Input: `tf: /person_*` (tf)
+ - Topic subscription: `/navigate [Navigate/Navigate]`
+
+ - Topic subscription: `/slam/local_map [OccupancyGrid/OccupancyGrid]`
+
+ - Input: /h/g/tracked
+ - Input: /joint_states
+ - Input: `tf: /group_*` (tf)
+
+#### Outputs
+
+ - Output: /controller_status
+ - Topic publication: `/head_controller/command [JointTrajectory/JointTrajectory]`
+
+ - Output: `tf: /final_point /nav_goal... ` (tf)
+ - Topic publication: `/nav_vel [Twist/Twist]`
+
+
+#### Dependencies
- `std_msgs/Empty`
-- `hri_msgs/LiveSpeech`
+- `LookAt/LookAt`
+- `GoTowards/GoTowards`
+- `JointTrajectory/JointTrajectory`
+- `tf/transform_listener`
+- `Navigate/Navigate`
+- `OccupancyGrid/OccupancyGrid`
+- `tf/transform_broadcaster`
+- `Twist/Twist`
----
-### ros_mediapipe_node
-Node *ros_mediapipe_node* (id: `ros_mediapipe_node`) is overseen by INRIA.
+### body_3d_tracker {#body_3d_tracker}
-MOCK: ROS mediapipe/openpose is...
+
+
+*The node body_3d_tracker (id: `body_3d_tracker`) is maintained by INRIA.*
#### Status
-**Current release: 0.0.1**
+Implemented. Current release/branch: main
+
+Source code repository: []()
+
-#### Inputs/outputs
+#### Inputs
- - Input: `/front_camera_basetation/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]` (topic)
- - Input: `/tracker/tracker_output [std_msgs/String]` (topic)
+ - Topic subscription: `/front_camera/fisheye/image_raw [sensor_msgs/Image]`
+
+ - Topic subscription: `/humans/bodies/<id>/skeleton2d [hri_msg/Skeleton2D]`
+
+ - Topic subscription: `/tracker/tracker_output [std_msgs/String]`
+
+
+#### Outputs
+
+ - Output: `tf: /body_*` (tf)
+ - Topic publication: `/humans/bodies/tracked [hri_msgs/IdsList]`
+
+
+#### Dependencies
+
+- `sensor_msgs/Image`
+- `tf/transform_broadcaster`
+- `hri_msg/Skeleton2D`
+- `std_msgs/String`
+- `hri_msgs/IdsList`
+
+
+
+
+### body_to_face_mapper {#body_to_face_mapper}
+
+
+
+*The node body_to_face_mapper (id: `body_to_face_mapper`) is maintained by INRIA.*
+
+#### Status
+
+Implemented. Current release/branch: main
+
+Source code repository: [node associates detected bodies to detected faces in image-space. REPO:https://gitlab.inria.fr/spring/wp3_av_perception/body_to_face_mapper](node associates detected bodies to detected faces in image-space. REPO:https://gitlab.inria.fr/spring/wp3_av_perception/body_to_face_mapper)
+
+
+#### Inputs
+
+ - Topic subscription: `/humans/faces/tracked [hri_msgs/IdsList]`
+
+ - Topic subscription: `/humans/bodies/tracked [hri_msgs/IdsList]`
+
+ - Topic subscription: `/humans/faces/TEST_ID_FACE/roi [hri_msgs/NormalizedRegionOfInterest2D]`
+
+ - Topic subscription: `/humans/bodies/<id>/roi [hri_msgs/NormalizedRegionOfInterest2D]`
+
+
+#### Outputs
+
+ - Topic publication: `/humans/candidate_matches [hri_msgs/IdsMatch]`
+
+
+#### Dependencies
+
+- `hri_msgs/IdsList`
+- `hri_msgs/IdsMatch`
+- `hri_msgs/NormalizedRegionOfInterest2D`
+
+
+
+
+### front_fisheye_2d_body_pose_detector {#front_fisheye_2d_body_pose_detector}
+
+ Based on OpenPOSE
+
+*The node front_fisheye_2d_body_pose_detector (id: `front_fisheye_2d_body_pose_detector`) is maintained by INRIA.*
+
+#### Status
+
+Implemented. Current release/branch: main
+
+Source code repository: [https://gitlab.inria.fr/spring/wp3_av_perception/front_fisheye_2d_body_pose_detector](https://gitlab.inria.fr/spring/wp3_av_perception/front_fisheye_2d_body_pose_detector)
+
+
+#### Inputs
+
+ - Topic subscription: `/tracker/tracker_output [std_msgs/String]`
+
+ - Topic subscription: `/front_camera/fisheye/image_raw [sensor_msgs/Image]`
+
+
+#### Outputs
+
+ - Topic publication: `/humans/bodies/<id>/skeleton2d [hri_msg/Skeleton2D]`
+
+
+#### Dependencies
+
+- `hri_msg/Skeleton2D`
+- `std_msgs/String`
+- `sensor_msgs/Image`
+
+
+
+
+### front_fisheye_body_tracker {#front_fisheye_body_tracker}
+
+ 2D body detector and tracker, based on the FairMOT algorithm. This code is primarily developed at INRIA by Luis Gomez Camara.
+
+*The node front_fisheye_body_tracker (id: `front_fisheye_body_tracker`) is maintained by INRIA.*
+
+#### Status
+
+Implemented. Current release/branch: devel
+
+Source code repository: [ https://gitlab.inria.fr/spring/wp3_av_perception/multi-person_visual_tracker/]( https://gitlab.inria.fr/spring/wp3_av_perception/multi-person_visual_tracker/)
+
+
+#### Inputs
+
+ - Topic subscription: `/front_camera_basetation/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]`
+
+
+#### Outputs
+
+ - Output:
+ - Topic publication: `/humans/bodies/<id>/cropped [sensor_msgs/Image]`
+
+ - Topic publication: `/tracker/tracker_output [std_msgs/String]`
+
+ - Topic publication: `/humans/bodies/<id>/roi [hri_msgs/NormalizedRegionOfInterest2D]`
- - Output: `/tracked_pose_2df/image_raw/compressed` (undefined)
- - Output: `/tracked_pose_2df/frame [openpose/Frame]` (topic)
#### Dependencies
-- `sensor_msgs/CompressedImage`
- `std_msgs/Empty`
-- `openpose/Frame`
+- `sensor_msgs/Image`
+- `sensor_msgs/CompressedImage`
- `std_msgs/String`
+- `hri_msgs/NormalizedRegionOfInterest2D`
----
-### speakerseparationdiarization
-Node *Speaker separation/diarization* (id: `speakerseparationdiarization`) is overseen by BIU.
+### go_to_body_action_server {#go_to_body_action_server}
+
+*The node go_to_body_action_server (id: `go_to_body_action_server`) is maintained by INRIA.*
#### Status
-**This node is currently auto-generated (mock-up)**
+Implemented. Current release/branch: 0.0.1
+
+Source code repository: []()
+
-#### Inputs/outputs
+#### Inputs
- - Input: `/audio/enh_audio [spring_msgs/RawAudioData]` (topic)
+ - Input: goal
+ - Topic subscription: `/controller_status [ControllerStatus/ControllerStatus]`
+
+
+#### Outputs
+
+ - Topic publication: `/go_towards [GoTowards/GoTowards]`
- - Output: `/audio/postprocess_audio_streams [audio_common_msgs/AudioData[]]` (topic)
#### Dependencies
-- `spring_msgs/RawAudioData`
-- `audio_common_msgs/AudioData[]`
+- `std_msgs/Empty`
+- `GoTowards/GoTowards`
+- `ControllerStatus/ControllerStatus`
----
-### look_at_action_server
-Node *look_at_action_server* (id: `look_at_action_server`) is overseen by HWU.
+### go_to_group_action_server {#go_to_group_action_server}
+
+*The node go_to_group_action_server (id: `go_to_group_action_server`) is maintained by INRIA.*
#### Status
-**This node is currently auto-generated (mock-up)**
+Implemented. Current release/branch: 0.0.1
-#### Inputs/outputs
+Source code repository: []()
- - Input: `goal` (undefined)
- - Input: `/controller_status [ControllerStatus]` (topic)
- - Output: `/look_at [LookAt]` (topic)
+#### Inputs
+
+ - Topic subscription: `/controller_status [ControllerStatus/ControllerStatus]`
+
+ - Input: goal
+
+#### Outputs
+
+ - Topic publication: `/go_towards [GoTowards/GoTowards]`
+
+
+#### Dependencies
+
+- `GoTowards/GoTowards`
+- `ControllerStatus/ControllerStatus`
+- `std_msgs/Empty`
+
+
+
+
+### go_to_person_action_server {#go_to_person_action_server}
+
+
+
+*The node go_to_person_action_server (id: `go_to_person_action_server`) is maintained by INRIA.*
+
+#### Status
+
+Implemented. Current release/branch: 0.0.1
+
+Source code repository: []()
+
+
+#### Inputs
+
+ - Input: goal
+ - Topic subscription: `/controller_status [ControllerStatus/ControllerStatus]`
+
+
+#### Outputs
+
+ - Topic publication: `/go_towards [GoTowards/GoTowards]`
+
+
+#### Dependencies
+
+- `GoTowards/GoTowards`
+- `std_msgs/Empty`
+- `ControllerStatus/ControllerStatus`
+
+
+
+
+### go_to_position_action_server {#go_to_position_action_server}
+
+
+
+*The node go_to_position_action_server (id: `go_to_position_action_server`) is maintained by INRIA.*
+
+#### Status
+
+Implemented. Current release/branch: 0.0.1
+
+Source code repository: []()
+
+
+#### Inputs
+
+ - Input: goal
+ - Topic subscription: `/controller_status [ControllerStatus/ControllerStatus]`
+
+
+#### Outputs
+
+ - Topic publication: `/go_towards [GoTowards/GoTowards]`
+
+
+#### Dependencies
+
+- `std_msgs/Empty`
+- `GoTowards/GoTowards`
+- `ControllerStatus/ControllerStatus`
+
+
+
+
+### group_detector {#group_detector}
+
+
+
+*The node group_detector (id: `group_detector`) is maintained by INRIA.*
+
+#### Status
+
+Implemented. Current release/branch: main
+
+Source code repository: [https://gitlab.inria.fr/spring/wp4_behavior/group_detector](https://gitlab.inria.fr/spring/wp4_behavior/group_detector)
+
+
+#### Inputs
+
+ - Input: /h/p/tracked
+ - Input: `tf: /person_*` (tf)
+
+#### Outputs
+
+ - Topic publication: `/humans/group/<id>/ [hri_msgs/IdList]`
+
+ - Topic publication: `/h/g/tracked [hri_msgs/IdList]`
+
+ - Output: `tf: /group_*` (tf)
+
+#### Dependencies
+
+- `hri_msgs/IdList`
+- `tf/transform_broadcaster`
+- `std_msgs/Empty`
+- `tf/transform_listener`
+
+
+
+
+### look_at_action_server {#look_at_action_server}
+
+
+
+*The node look_at_action_server (id: `look_at_action_server`) is maintained by INRIA.*
+
+#### Status
+
+Implemented. Current release/branch: 0.0.1
+
+Source code repository: []()
+
+
+#### Inputs
+
+ - Input: goal
+ - Topic subscription: `/controller_status [ControllerStatus/ControllerStatus]`
+
+
+#### Outputs
+
+ - Topic publication: `/look_at [LookAt/LookAt]`
+
#### Dependencies
@@ -1201,378 +1412,711 @@ Node *look_at_action_server* (id: `look_at_action_server`) is overseen by HWU.
- `ControllerStatus/ControllerStatus`
----
-### navigate_action_server
-Node *navigate_action_server* (id: `navigate_action_server`) is overseen by HWU.
+### look_at_person_server {#look_at_person_server}
+
+*The node look_at_person_server (id: `look_at_person_server`) is maintained by INRIA.*
#### Status
-**This node is currently auto-generated (mock-up)**
+Implemented. Current release/branch: 0.0.1
+
+Source code repository: []()
+
+
+#### Inputs
+
+ - Input: goal
+ - Topic subscription: `/controller_status [ControllerStatus/ControllerStatus]`
+
-#### Inputs/outputs
+#### Outputs
- - Input: `goal` (undefined)
- - Input: `/controller_status [ControllerStatus]` (topic)
+ - Topic publication: `/look_at [LookAt/LookAt]`
- - Output: `/navigate [Navigate]` (topic)
#### Dependencies
-- `Navigate/Navigate`
- `std_msgs/Empty`
+- `LookAt/LookAt`
- `ControllerStatus/ControllerStatus`
----
-### soundsourcelocalisation
-Node *sound source localisation* (id: `soundsourcelocalisation`) is overseen by BIU.
+### look_at_position_action_server {#look_at_position_action_server}
+
+*The node look_at_position_action_server (id: `look_at_position_action_server`) is maintained by INRIA.*
#### Status
-**This node is currently auto-generated (mock-up)**
+Implemented. Current release/branch: 0.0.1
+
+Source code repository: []()
+
+
+#### Inputs
+
+ - Topic subscription: `/controller_status [ControllerStatus/ControllerStatus]`
+
+ - Input: goal
-#### Inputs/outputs
+#### Outputs
- - Input: `/audio/raw_audio [spring_msgs/RawAudioData]` (topic)
+ - Topic publication: `/navigate [Navigate/Navigate]`
- - Output: `/audio/audio_sources [spring_msgs/RawAudioData[]]` (topic)
#### Dependencies
-- `spring_msgs/RawAudioData`
-- `spring_msgs/RawAudioData[]`
+- `ControllerStatus/ControllerStatus`
+- `Navigate/Navigate`
+- `std_msgs/Empty`
+
----
-### orbslam
+### occupancy_map_republisher {#occupancy_map_republisher}
-Node *ORB SLAM* (id: `orbslam`) is overseen by PAL.
+*The node occupancy_map_republisher (id: `occupancy_map_republisher`) is maintained by INRIA.*
#### Status
-**This node is currently auto-generated (mock-up)**
+This node is not yet implemented.
+
+
+#### Inputs
-#### Inputs/outputs
+ - Topic subscription: `/slam/obstacle_map [OccupancyGrid/OccupancyGrid]`
- - Input: `/camera_torso/color/image_raw [sensor_msgs/Image]` (topic)
+ - Topic subscription: `/slam/occupancy_map [OccupancyGrid/OccupancyGrid]`
+
+
+#### Outputs
+
+ - Topic publication: `/slam/local_map [OccupancyGrid/OccupancyGrid]`
- - Output: `tf: /odom` (tf)
- - Output: `/map [nav_msgs/OccupancyGrid]` (topic)
#### Dependencies
-- `tf/transform_broadcaster`
-- `sensor_msgs/Image`
-- `nav_msgs/OccupancyGrid`
+- `OccupancyGrid/OccupancyGrid`
+
----
-### dialogue_speech
+### pointcloud2occmap {#pointcloud2occmap}
-Node *dialogue_speech* (id: `dialogue_speech`) is overseen by HWU.
+*The node pointcloud2occmap (id: `pointcloud2occmap`) is maintained by INRIA.*
#### Status
-**This node is currently auto-generated (mock-up)**
+This node is not yet implemented.
-#### Inputs/outputs
- - Input: `/h/v/*/speech [hri_msgs/LiveSpeech]` (topic)
+#### Inputs
+
+ - Input: torso pointcloud
+
+#### Outputs
+
+ - Topic publication: `/slam/obstacle_map [OccupancyGrid/OccupancyGrid]`
- - Output: `/eos` (undefined)
- - Output: `/dialogue_speech` (undefined)
#### Dependencies
- `std_msgs/Empty`
-- `hri_msgs/LiveSpeech`
+- `OccupancyGrid/OccupancyGrid`
+
----
-### voicespeechmatching
+## Other
-Node *Voice speech matching* (id: `voicespeechmatching`) is overseen by BIU.
+## PAL
+
+
+
+### fisheye {#fisheye}
+
+
+
+*The node fisheye (id: `fisheye`) is maintained by PAL.*
#### Status
-**This node is currently auto-generated (mock-up)**
+Implemented. Current release/branch: 0.0.1
+
+Source code repository: []()
+
-#### Inputs/outputs
+#### Inputs
- - Input: `/h/v/*/raw_audio [spring_msgs/RawAudioData]` (topic)
- - Input: `/audio/speech_streams [std_msgs/String]` (topic)
- - Output: `/h/v/*/speech [hri_msgs/LiveSpeech]` (topic)
+#### Outputs
+
+ - Topic publication: `/torso_front_camera/color/image_raw [sensor_msgs/Image]`
+
#### Dependencies
-- `spring_msgs/RawAudioData`
-- `hri_msgs/LiveSpeech`
-- `std_msgs/String`
+- `sensor_msgs/Image`
+
+
+
+
+### hri_msgs {#hri_msgs}
+
+
+
+*The node hri_msgs (id: `hri_msgs`) is maintained by PAL.*
+
+#### Status
+
+Implemented. Current release/branch: 0.1.1
+
+Source code repository: [ git@gitlab:ros4hri/hri_msgs.git NOT EXECUTABLE]( git@gitlab:ros4hri/hri_msgs.git NOT EXECUTABLE)
+
+
+#### Inputs
+
+
+#### Outputs
+
+
----
-### hri_person_manager
+### hri_person_manager {#hri_person_manager}
-Node *hri_person_manager* (id: `hri_person_manager`) is overseen by PAL.
-REPO:git@gitlab.inria.fr:spring/wp7_ari/hri_person_manager.git
+
+*The node hri_person_manager (id: `hri_person_manager`) is maintained by PAL.*
#### Status
-**Current release: master**
+Implemented. Current release/branch: master
+
+Source code repository: [git@gitlab.inria.fr:spring/wp7_ari/hri_person_manager.git](git@gitlab.inria.fr:spring/wp7_ari/hri_person_manager.git)
+
+
+#### Inputs
-#### Inputs/outputs
+ - Topic subscription: `/humans/candidate_matches [hri_msgs/IdsMatch]`
- - Input: `candidate_matches [hri_msgs/IdsMatch]` (undefined)
- - Output: `tf: /person_id` (tf)
- - Output: `/h/p/...` (undefined)
- - Output: `/h/p/tracked [hri_msgs/IdsList]` (topic)
+#### Outputs
+
+ - Output: /h/p/...
+ - Topic publication: `/h/p/tracked [hri_msgs/IdsList]`
+
+ - Output: `tf: /person_*` (tf)
#### Dependencies
- `std_msgs/Empty`
-- `tf/transform_broadcaster`
- `hri_msgs/IdsList`
+- `hri_msgs/IdsMatch`
+- `tf/transform_broadcaster`
----
-### occupancymap
-Node *Occupancy map* (id: `occupancymap`) is overseen by CVUT.
+### knowledge_core {#knowledge_core}
+*The node knowledge_core (id: `knowledge_core`) is maintained by PAL.*
+
#### Status
-**This node is currently auto-generated (mock-up)**
+Implemented. Current release/branch: 2.8.0
+
+Source code repository: [https://gitlab.inria.fr/spring/wp7_ari/knowledge_core](https://gitlab.inria.fr/spring/wp7_ari/knowledge_core)
-#### Inputs/outputs
- - Input: `dense 3d map` (undefined)
- - Input: `TF (bodies)` (undefined)
+#### Inputs
- - Output: `/map_refined [nav_msgs/OccupancyGrid]` (topic)
+ - Topic subscription: `/kb/add_fact [std_msgs/String]`
+
+
+#### Outputs
+
+ - Output: service: /kb/query
#### Dependencies
+- `std_msgs/String`
- `std_msgs/Empty`
-- `nav_msgs/OccupancyGrid`
----
-### dialogue_arbiter
-Node *dialogue_arbiter* (id: `dialogue_arbiter`) is overseen by HWU.
+### people_facts {#people_facts}
+
-REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git
-SUBFOLDER:dialogue_arbiter
+
+*The node people_facts (id: `people_facts`) is maintained by PAL.*
#### Status
-**Current release: spring_dev**
+Implemented. Current release/branch: 0.2.2
+
+Source code repository: [https://gitlab.inria.fr/spring/wp7_ari/people_facts](https://gitlab.inria.fr/spring/wp7_ari/people_facts)
-#### Inputs/outputs
- - Input: `/eos` (undefined)
- - Input: `/dialogue_speech` (undefined)
- - Input: `interaction messages` (undefined)
+#### Inputs
+
+ - Input: /h/p/...
+
+#### Outputs
+
+ - Topic publication: `/kb/add_fact [std_msgs/String]`
- - Output: `next utterance` (undefined)
- - Output: `DialogueState` (undefined)
#### Dependencies
- `std_msgs/Empty`
+- `std_msgs/String`
----
-### uservisualfocus
-Node *User visual focus* (id: `uservisualfocus`) is overseen by UNITN.
+### raspicam {#raspicam}
+
+
+
+*The node raspicam (id: `raspicam`) is maintained by PAL.*
+
+#### Status
+
+Implemented. Current release/branch: 0.0.1
+
+Source code repository: []()
+#### Inputs
+
+
+#### Outputs
+
+ - Topic publication: `/head_front_camera/color/image_raw [sensor_msgs/Image]`
+
+
+#### Dependencies
+
+- `sensor_msgs/Image`
+
+
+
+
+### respeaker_ros {#respeaker_ros}
+
+
+
+*The node respeaker_ros (id: `respeaker_ros`) is maintained by PAL.*
+
+#### Status
+
+Implemented. Current release/branch: master
+
+Source code repository: []()
+
+
+#### Inputs
+
+
+#### Outputs
+
+ - Topic publication: `/audio/raw_audio [audio_common_msgs/AudioData]`
+
+ - Topic publication: `/audio/ego_audio [audio_common_msgs/AudioData]`
+
+
+#### Dependencies
+
+- `audio_common_msgs/AudioData`
+
+
+
+
+### Robot functional layer {#robotfunctionallayer}
+
+
+
+*The node Robot functional layer (id: `robotfunctionallayer`) is maintained by PAL.*
#### Status
-**This node is currently auto-generated (mock-up)**
+Implemented. Current release/branch: 0.0.1
+
+Source code repository: []()
+
+
+#### Inputs
-#### Inputs/outputs
+ - Input: input
- - Input: `gaze direction` (undefined)
- - Input: `depth` (undefined)
- - Input: `attention` (undefined)
- - Input: `scene` (undefined)
+#### Outputs
- - Output: `/h/i/gaze [hri_msgs/Gaze]` (topic)
- - Output: `who's looking at what?` (undefined)
+ - Output: /joint_states
#### Dependencies
- `std_msgs/Empty`
-- `hri_msgs/Gaze`
----
-### recipe_planner
-Node *recipe_planner* (id: `recipe_planner`) is overseen by HWU.
+### spring_msgs {#spring_msgs}
+
+
+
+*The node spring_msgs (id: `spring_msgs`) is maintained by PAL.*
+
+#### Status
+
+Implemented. Current release/branch: 0.0.2
+
+Source code repository: [git@gitlab.inria.fr:spring/wp7_ari/spring_msgs.git NOT EXECUTABLE](git@gitlab.inria.fr:spring/wp7_ari/spring_msgs.git NOT EXECUTABLE)
-REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git
-SUBFOLDER:robot_behaviour_plan_actions
+
+#### Inputs
+
+
+#### Outputs
+
+
+
+
+
+### torso_rgbd_camera {#torso_rgbd_camera}
+
+
+
+*The node torso_rgbd_camera (id: `torso_rgbd_camera`) is maintained by PAL.*
#### Status
-**Current release: spring_dev**
+Implemented. Current release/branch: 0.0.1
+
+Source code repository: []()
-#### Inputs/outputs
- - Input: `dialogue state` (undefined)
- - Input: `/h/p/*/softbiometrics [hri_msgs/Softbiometrics]` (topic)
- - Input: `semantic scene description` (undefined)
+#### Inputs
+
+
+#### Outputs
+
+ - Output: pointcloud
+ - Output: torso_front_camera/infra*/*
+ - Output: /torso_front_camera/imu
+ - Topic publication: `/torso_front_camera/color/image_raw [sensor_msgs/Image]`
- - Output: `plan` (undefined)
- - Output: `interaction state` (undefined)
#### Dependencies
- `std_msgs/Empty`
-- `hri_msgs/Softbiometrics`
+- `sensor_msgs/Image`
+
+
+
+## UNITN
-### Non-executable dependency: robot_behaviour_msgs
-Module robot_behaviour_msgs (id: `robot_behaviour_msgs`) is overseen by HWU.
+### activity_recognition {#activity_recognition}
-REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git
-SUBFOLDER:robot_behaviour_msgs
-NOT EXECUTABLE
+
+*The node activity_recognition (id: `activity_recognition`) is maintained by UNITN.*
#### Status
-**Current release: spring_dev**
+This node is not yet implemented.
+
+
+#### Inputs
+
+ - Topic subscription: `/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]`
+
+
+#### Outputs
+
+ - Output: [?] output to be defined + added to hri_msgs if possible
#### Dependencies
+- `human_2d_pose_estimation/Frame`
+- `std_msgs/Empty`
+
+
+
+
+### depth_estimation {#depth_estimation}
+
+*The node depth_estimation (id: `depth_estimation`) is maintained by UNITN.*
+
+#### Status
+
+Implemented. Current release/branch: main
+
+Source code repository: [https://gitlab.inria.fr/spring/wp4_behavior/depth-estimation](https://gitlab.inria.fr/spring/wp4_behavior/depth-estimation)
+
+
+#### Inputs
+
+ - Topic subscription: `/*_basestation/head_front_camera/... [sensor_msgs/Image]`
+
+
+#### Outputs
+
+ - Topic publication: `/depth_estimation [sensor_msgs/Image]`
+
+
+#### Dependencies
+
+- `sensor_msgs/Image`
+
-### Non-executable dependency: hri_msgs
-Module hri_msgs (id: `hri_msgs`) is overseen by PAL.
+### emotion_estimation {#emotion_estimation}
-REPO: git@gitlab:ros4hri/hri_msgs.git
-NOT EXECUTABLE
+
+*The node emotion_estimation (id: `emotion_estimation`) is maintained by UNITN.*
#### Status
-**Current release: 0.1.1**
+Implemented. Current release/branch: 0.0.1
+
+Source code repository: []()
+
+
+#### Inputs
+
+ - Topic subscription: `/humans/faces/TEST_ID_FACE/cropped [sensor_msg/Image]`
+
+
+#### Outputs
+
+ - Topic publication: `/humans/faces/TEST_ID_FACE/expression [hri_msgs/Expression]`
+
#### Dependencies
+- `sensor_msg/Image`
+- `hri_msgs/Expression`
-### Non-executable dependency: audio_msgs
+### face_tracker {#face_tracker}
-Module audio_msgs (id: `audio_msgs`) is overseen by HWU.
-REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/asr.git
-SUBFOLDER:audio_msgs
-NOT EXECUTABLE
+*The node face_tracker (id: `face_tracker`) is maintained by UNITN.*
#### Status
-**Current release: spring_dev**
+Implemented. Current release/branch: 0.0.1
+
+Source code repository: [ https://gitlab.inria.fr/spring/wp4_behavior/face-tracker]( https://gitlab.inria.fr/spring/wp4_behavior/face-tracker)
+
+
+#### Inputs
+
+ - Topic subscription: `/*_basestation/head_front_camera/... [sensor_msgs/Image]`
+
+
+#### Outputs
+
+ - Topic publication: `/humans/faces/TEST_ID_FACE/cropped [sensor_msg/Image]`
+
+ - Topic publication: `/humans/faces/TEST_ID_FACE/roi [hri_msgs/NormalizedRegionOfInterest2D]`
+
+ - Topic publication: `/humans/faces/tracked [hri_msgs/IdsList]`
+
#### Dependencies
+- `sensor_msg/Image`
+- `sensor_msgs/Image`
+- `hri_msgs/NormalizedRegionOfInterest2D`
+- `hri_msgs/IdsList`
-### Non-executable dependency: interaction_manager_msgs
+### gaze_estimation {#gaze_estimation}
-Module interaction_manager_msgs (id: `interaction_manager_msgs`) is overseen by HWU.
-REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git
-SUBFOLDER:interaction_manager_msgs
-NOT EXECUTABLE
+*The node gaze_estimation (id: `gaze_estimation`) is maintained by UNITN.*
#### Status
-**Current release: spring_dev**
+Implemented. Current release/branch: devel
+
+Source code repository: []()
+
+
+#### Inputs
+
+ - Topic subscription: `/*_basestation/head_front_camera/... [sensor_msgs/Image]`
+
+ - Topic subscription: `/humans/faces/TEST_ID_FACE/roi [sensor_msgs/RegionOfInterest]`
+
+ - Topic subscription: `/depth_estimation [sensor_msgs/Image]`
+
+
+#### Outputs
+
+ - Output: GazeFrame [2D point in rgb frame]
#### Dependencies
+- `sensor_msgs/Image`
+- `std_msgs/Empty`
+- `sensor_msgs/RegionOfInterest`
-### Non-executable dependency: social_scene_msgs
+### human_2d_pose_estimation {#human_2d_pose_estimation}
-Module social_scene_msgs (id: `social_scene_msgs`) is overseen by HWU.
-REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git
-SUBFOLDER:social_scene_msgs
-NOT EXECUTABLE
+*The node human_2d_pose_estimation (id: `human_2d_pose_estimation`) is maintained by UNITN.*
#### Status
-**Current release: spring_dev**
+Implemented. Current release/branch: main
+
+Source code repository: [https://gitlab.inria.fr/spring/wp4_behavior/human-2d-pose-estimation](https://gitlab.inria.fr/spring/wp4_behavior/human-2d-pose-estimation)
+
+
+#### Inputs
+
+ - Topic subscription: `/*_basestation/head_front_camera/... [sensor_msgs/Image]`
+
+
+#### Outputs
+
+ - Topic publication: `/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]`
+
#### Dependencies
+- `sensor_msgs/Image`
+- `human_2d_pose_estimation/Frame`
+
+
+
+
+### mask_detector {#mask_detector}
+ Detects presence of a facial mask
+
+*The node mask_detector (id: `mask_detector`) is maintained by UNITN.*
+
+#### Status
+
+Implemented. Current release/branch: master
+
+Source code repository: [https://gitlab.inria.fr/spring/wp4_behavior/mask-detection BIN:mask_detector.py](https://gitlab.inria.fr/spring/wp4_behavior/mask-detection BIN:mask_detector.py)
+
+
+#### Inputs
+
+ - Topic subscription: `/humans/faces/TEST_ID_FACE/cropped [sensor_msg/Image]`
+
+
+#### Outputs
+
+ - Topic publication: `/humans/faces/TEST_ID_FACE/has_mask [wp4_msgs/FaceMask]`
+
+
+#### Dependencies
+
+- `wp4_msgs/FaceMask`
+- `sensor_msg/Image`
-### Non-executable dependency: wp4_msgs
-Module wp4_msgs (id: `wp4_msgs`) is overseen by UNITN.
+### soft_biometrics_estimator {#soft_biometrics_estimator}
-REPO:git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git
-SUBFOLDER:wp4_msgs
-NOT EXECUTABLE
+ Detects age/gender
+*The node soft_biometrics_estimator (id: `soft_biometrics_estimator`) is maintained by UNITN.*
#### Status
-**Current release: master**
+Implemented. Current release/branch: master
+
+Source code repository: [git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git](git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git)
+
+
+#### Inputs
+
+ - Topic subscription: `/humans/faces/tracked [hri_msgs/IdsList]`
+
+ - Topic subscription: `/humans/faces/TEST_ID_FACE/roi [hri_msgs/NormalizedRegionOfInterest2D]`
+
+ - Topic subscription: `/*_basestation/head_front_camera/... [sensor_msgs/Image]`
+
+
+#### Outputs
+
+ - Topic publication: `/humans/candidate_matches [hri_msgs/IdsMatch] [face reco/face reco]`
+
+ - Topic publication: `/humans/faces/TEST_ID_FACE/softbiometrics [hri_msgs/SoftBiometrics]`
+
#### Dependencies
+- `hri_msgs/IdsList`
+- `hri_msgs/NormalizedRegionOfInterest2D`
+- `face reco/face reco`
+- `sensor_msgs/Image`
+- `hri_msgs/SoftBiometrics`
+
+
+
+
+### wp4_msgs {#wp4_msgs}
+
+
+
+*The node wp4_msgs (id: `wp4_msgs`) is maintained by UNITN.*
+
+#### Status
+
+Implemented. Current release/branch: master
+
+Source code repository: [git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git SUBFOLDER:wp4_msgs NOT EXECUTABLE](git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git SUBFOLDER:wp4_msgs NOT EXECUTABLE)
+
+
+#### Inputs
+
+
+#### Outputs
+
+