diff --git a/spring-architecture.integration-1.md b/spring-architecture.integration-1.md new file mode 100644 index 0000000000000000000000000000000000000000..fb878491d68055575c7cef34ec3b63444a00e6ce --- /dev/null +++ b/spring-architecture.integration-1.md @@ -0,0 +1,1191 @@ +# SPRING architecture + +**Version:** 0.5.0 + +EU H2020 SPRING architecture + +## Overview of modules + +### High priority for Integration Week + +- 🟩: ready/released +- â±ï¸: needs update +- 🟧: not released yet +- 🟥: not started yet +- â”: status unknown + +| **Status** | **Node** | **id** | **Partner** | **Status** | +|------------|----------|--------|-------------|------------| +| 🟧 | [ InLoc Server](#inlocserver) | inlocserver | CVUT | mock-up | +| â” | [InLoc-ROS](#inlocros) | inlocros | CVUT | mock-up | +| 🟧 | [Object detection/identification/localisation](#objectdetectionidentificationlocalisation) | objectdetectionidentificationlocalisation | CVUT | mock-up | +| 🟩 | [MoDE](#mode) | mode | BIU | released (version BIU_dev) | +| â” | [Multi-person audio tracking](#multipersonaudiotracking) | multipersonaudiotracking | BIU | mock-up | +| 🟩 | [google_asr](#google_asr) | google_asr | BIU | released (version BIU_dev) | +| â” | [Speaker identification](#speakeridentification) | speakeridentification | BIU | mock-up | +| 🟥 | [Voice speech matching](#voicespeechmatching) | voicespeechmatching | BIU | mock-up | +| 🟧 | [Face detection](#facedetection) | facedetection | UNITN | mock-up | +| 🟧 | [Person re-identification](#personreidentification) | personreidentification | UNITN | mock-up | +| 🟧 | [Depth estimation from monocular](#depthestimationfrommonocular) | depthestimationfrommonocular | UNITN | mock-up | +| 🟧 | [User attention estimation](#userattentionestimation) | userattentionestimation | UNITN | mock-up | +| 🟧 | [F-formation](#fformation) | fformation | UNITN | mock-up | +| 🟩 | [ros_openpose](#ros_openpose) | ros_openpose | UNITN | released (version 0.0.1) | +| 🟩 | [mask_detector](#mask_detector) | mask_detector | UNITN | released (version master) | +| 🟩 | [soft_biometrics_estimator](#soft_biometrics_estimator) | soft_biometrics_estimator | UNITN | released (version master) | +| 🟩 | [ wp4_msgs](#wp4_msgs) | wp4_msgs | UNITN | released (version master) (dependency) | +| 🟩 | [FairMOT Multi-people body tracker](#fairmotmultipeoplebodytracker) | fairmotmultipeoplebodytracker | INRIA | released (version devel) | +| 🟩 | [People 3D tracker](#people3dtracker) | people3dtracker | INRIA | mock-up | +| 🟩 | [interaction_manager](#interaction_manager) | interaction_manager | HWU | released (version spring_dev) | +| 🟩 | [ interaction_manager_msgs](#interaction_manager_msgs) | interaction_manager_msgs | HWU | released (version spring_dev) (dependency) | +| 🟩 | [ robot_behaviour_msgs](#robot_behaviour_msgs) | robot_behaviour_msgs | HWU | released (version spring_dev) (dependency) | +| 🟩 | [dialogue arbiter](#dialoguearbiter) | dialoguearbiter | HWU | released (version spring_dev) | +| â” | [ audio_msgs](#audio_msgs) | audio_msgs | HWU | released (version spring_dev) (dependency) | +| 🟩 | [ social_scene_msgs](#social_scene_msgs) | social_scene_msgs | HWU | released (version spring_dev) (dependency) | +| â” | [social_scene_context_understanding](#social_scene_context_understanding) | social_scene_context_understanding | HWU | released (version spring_dev) | +| 🟩 | [robot_behaviour_plan_actions](#robot_behaviour_plan_actions) | robot_behaviour_plan_actions | HWU | released (version spring_dev) | +| 🟩 | [robot_behavior](#robot_behavior) | robot_behavior | INRIA | released (version devel) | +| 🟧 | [Robot GUI](#robotgui) | robotgui | ERM | mock-up | +| 🟩 | [hri_person_manager](#hri_person_manager) | hri_person_manager | PAL | released (version master) | +| 🟩 | [ hri_msgs](#hri_msgs) | hri_msgs | PAL | released (version 0.1.1) (dependency) | +| 🟩 | [raspicam](#raspicam) | raspicam | PAL | mock-up | +| 🟩 | [ORB SLAM](#orbslam) | orbslam | PAL | mock-up | +| 🟩 | [torso_rgbd_camera](#torso_rgbd_camera) | torso_rgbd_camera | PAL | mock-up | +| 🟩 | [ spring_msgs](#spring_msgs) | spring_msgs | PAL | released (version 0.0.2) | +| 🟩 | [Speech synthesis](#speechsynthesis) | speechsynthesis | PAL | mock-up | +| 🟩 | [respeaker_ros](#respeaker_ros) | respeaker_ros | PAL | released (version master) | +| 🟩 | [fisheye](#fisheye) | fisheye | PAL | mock-up | +| 🟩 | [Robot functional layer](#robotfunctionallayer) | robotfunctionallayer | PAL | mock-up | + +### Lower priority + +| **Status** | **Node** | **id** | **Partner** | **Status** | +|------------|----------|--------|-------------|------------| +| â” | [Semantic mapping](#semanticmapping) | semanticmapping | CVUT | mock-up | +| 🟥 | [Occupancy map](#occupancymap) | occupancymap | CVUT | mock-up | +| â” | [Non-verbal behaviours](#nonverbalbehaviours) | nonverbalbehaviours | UNITN | mock-up | +| â” | [User visual focus](#uservisualfocus) | uservisualfocus | UNITN | mock-up | +| 🟥 | [Activity reco](#activityreco) | activityreco | UNITN | mock-up | +| â” | [ROS mediapipe/openpose](#rosmediapipeopenpose) | rosmediapipeopenpose | INRIA | mock-up | + +## Detailed description + + + +--- + +### personreidentification + +Node *Person re-identification* (id: `personreidentification`) is overseen by UNITN. + +MOCK: Person re-identification is... + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + - Input: `/h/f/*/roi [sensor_msgs/RegionOfInterest]` (topic) + + - Output: `person_id_candidate [hri_msgs/IdsMatch]` (undefined) + +#### Dependencies + +- `std_msgs/Empty` +- `sensor_msgs/RegionOfInterest` + + +--- + +### nonverbalbehaviours + +Node *Non-verbal behaviours* (id: `nonverbalbehaviours`) is overseen by UNITN. + + + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + - Input: `/h/f/*/roi [hri_msgs/RegionOfInterest]` (topic) + - Input: `/h/v/*/audio [audio_common_msgs/AudioData]` (topic) + + - Output: `/h/f/*/expression [hri_msgs/Expression]` (topic) + +#### Dependencies + +- `hri_msgs/RegionOfInterest` +- `hri_msgs/Expression` +- `audio_common_msgs/AudioData` + + +--- + +### torso_rgbd_camera + +Node *torso_rgbd_camera* (id: `torso_rgbd_camera`) is overseen by PAL. + + + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + + - Output: `/torso_rgbd_camera/color/image_raw [sensor_msgs/Image]` (topic) + +#### Dependencies + +- `sensor_msgs/Image` + + +--- + +### inlocserver + +Node * InLoc Server* (id: `inlocserver`) is overseen by CVUT. + + + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + + +#### Dependencies + + + +--- + +### 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 + +#### Status + +**Current release: 0.0.2** + +#### Inputs/outputs + + + +#### Dependencies + + + +--- + +### userattentionestimation + +Node *User attention estimation* (id: `userattentionestimation`) is overseen by UNITN. + + + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + - Input: `TF (faces)` (undefined) + - Input: `/h/f/*/roi [hri_msgs/RegionOfInterest]` (topic) + + - Output: `tf: /face_id_gaze` (tf) + - Output: `x,y + attention heatmap` (undefined) + +#### Dependencies + +- `tf/transform_broadcaster` +- `std_msgs/Empty` +- `hri_msgs/RegionOfInterest` + + +--- + +### interaction_manager + +Node *interaction_manager* (id: `interaction_manager`) is overseen by HWU. + +REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git +SUBFOLDER:interaction_manager + +#### Status + +**Current release: spring_dev** + +#### Inputs/outputs + + - Input: `semantic scene description` (undefined) + - Input: `/h/p/*/softbiometrics [hri_msgs/Softbiometrics]` (topic) + - Input: `TF` (undefined) + - Input: `robot state` (undefined) + - Input: `dialogue state` (undefined) + + - Output: `verbal command` (undefined) + - Output: `nav goals` (undefined) + - Output: `who to look at` (undefined) + - Output: `active personID` (undefined) + - Output: `gestures` (undefined) + +#### Dependencies + +- `std_msgs/Empty` +- `hri_msgs/Softbiometrics` + + +--- + +### objectdetectionidentificationlocalisation + +Node *Object detection/identification/localisation* (id: `objectdetectionidentificationlocalisation`) is overseen by CVUT. + + + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + - Input: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic) + + - Output: `/detected_objects [spring_msgs/DetectedObjectArray]` (topic) + +#### Dependencies + +- `spring_msgs/DetectedObjectArray` +- `sensor_msgs/Image` + + +--- + +### voicespeechmatching + +Node *Voice speech matching* (id: `voicespeechmatching`) is overseen by BIU. + + + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + - Input: `/audio/speech_streams [std_msgs/String]` (topic) + - Input: `/h/v/*/audio [audio_common_msgs/AudioData]` (topic) + + - Output: `/h/v/*/speech [hri_msgs/LiveSpeech]` (topic) + +#### Dependencies + +- `hri_msgs/LiveSpeech` +- `std_msgs/String` +- `audio_common_msgs/AudioData` + + +--- + +### speakeridentification + +Node *Speaker identification* (id: `speakeridentification`) is overseen by BIU. + +- online services +- not started yet + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + - Input: `tracking information` (undefined) + - Input: `/audio/postprocess_audio_streams [audio_common_msgs/AudioData]` (topic) + + - Output: `person_id_candidate [hri_msgs/IdsMatch]` (undefined) + - Output: `/h/v/*/audio [audio_common_msgs/AudioData]` (topic) + +#### Dependencies + +- `std_msgs/Empty` +- `audio_common_msgs/AudioData` + + +--- + +### mask_detector + +Node *mask_detector* (id: `mask_detector`) is overseen by UNITN. + +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 + +#### Status + +**Current release: master** + +#### Inputs/outputs + + - Input: `/h/f/*/roi [sensor_msgs/RegionOfInterest]` (topic) + + - Output: `/h/f/*/mask [std_msgs/Bool]` (topic) + +#### Dependencies + +- `sensor_msgs/RegionOfInterest` +- `std_msgs/Bool` + + +--- + +### 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 + +#### Status + +**Current release: master** + +#### Inputs/outputs + + - Input: `TF (faces)` (undefined) + - Input: `/h/f/*/softbiometrics [hri_msgs/Softbiometrics]` (topic) + - Input: `candidate_matches [hri_msgs/IdsMatch]` (undefined) + - Input: `TF (voices)` (undefined) + + - Output: `/h/p/*/voice_id [std_msgs/String]` (topic) + - Output: `/h/p/*/softbiometrics [hri_msgs/Softbiometrics]` (topic) + - Output: `/h/p/*/face_id [std_msgs/String]` (topic) + - Output: `/humans/persons/*/body_id [std_msgs/String]` (topic) + - Output: `tf: /person_id` (tf) + +#### Dependencies + +- `std_msgs/String` +- `std_msgs/Empty` +- `hri_msgs/Softbiometrics` +- `tf/transform_broadcaster` + + +--- + +### soft_biometrics_estimator + +Node *soft_biometrics_estimator* (id: `soft_biometrics_estimator`) is overseen by UNITN. + +Detects age/gender +REPO:git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git +SUBFOLDER:wp4_people_characteristics +BIN:soft_biometrics_estimator.py + +#### Status + +**Current release: master** + +#### Inputs/outputs + + - Input: `/h/f/*/roi [hri_msgs/RegionOfInterest]` (topic) + + - Output: `/h/f/*/softbiometrics [hri_msgs/Softbiometrics]` (topic) + +#### Dependencies + +- `hri_msgs/RegionOfInterest` +- `hri_msgs/Softbiometrics` + + +--- + +### rosmediapipeopenpose + +Node *ROS mediapipe/openpose* (id: `rosmediapipeopenpose`) is overseen by INRIA. + +MOCK: ROS mediapipe/openpose is... + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + - Input: `input` (undefined) + + - Output: `output` (undefined) + +#### Dependencies + +- `std_msgs/Empty` + + +--- + +### people3dtracker + +Node *People 3D tracker* (id: `people3dtracker`) is overseen by INRIA. + +MOCK: People 3D tracker [position/orientation] is... + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + - Input: `ground plane` (undefined) + - Input: `people RoIs` (undefined) + - Input: `feet position` (undefined) + + - Output: `tf: /body_id` (tf) + +#### Dependencies + +- `std_msgs/Empty` +- `tf/transform_broadcaster` + + +--- + +### fformation + +Node *F-formation* (id: `fformation`) is overseen by UNITN. + + + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + - Input: `/h/i/gaze [hri_msgs/Gaze]` (topic) + - Input: `tf: /person_id` (tf) + + - Output: `/h/i/groups [hri_msgs/Group]` (topic) + +#### Dependencies + +- `hri_msgs/Group` +- `hri_msgs/Gaze` +- `tf/transform_listener` + + +--- + +### respeaker_ros + +Node *respeaker_ros* (id: `respeaker_ros`) is overseen by PAL. + +REPO:git@gitlab.inria.fr:spring/wp7_ari/respeaker_ros.git BIN:respeaker_multichan_node.py + +#### Status + +**Current release: master** + +#### Inputs/outputs + + + - Output: `/audio/ego_audio [audio_common_msgs/AudioData]` (topic) + - Output: `/audio/raw_audio [respeaker_ros/RawAudioData]` (topic) + +#### Dependencies + +- `audio_common_msgs/AudioData` +- `respeaker_ros/RawAudioData` + + +--- + +### fisheye + +Node *fisheye* (id: `fisheye`) is overseen by PAL. + + + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + + - Output: `/torso_front_camera/color/image_raw [sensor_msgs/Image]` (topic) + +#### Dependencies + +- `sensor_msgs/Image` + + +--- + +### dialoguearbiter + +Node *dialogue arbiter* (id: `dialoguearbiter`) is overseen by HWU. + +REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git +SUBFOLDER:dialogue_arbiter + +#### Status + +**Current release: spring_dev** + +#### Inputs/outputs + + - Input: `interaction messages` (undefined) + - Input: `/h/v/*/speech [hri_msgs/LiveSpeech]` (topic) + + - Output: `next utterance` (undefined) + - Output: `DialogueState` (undefined) + +#### Dependencies + +- `std_msgs/Empty` +- `hri_msgs/LiveSpeech` + + +--- + +### facedetection + +Node *Face detection* (id: `facedetection`) is overseen by UNITN. + + + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + - Input: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic) + + - Output: `/h/f/*/cropped [sensor_msg/Image]` (topic) + - Output: `/h/f/*/roi [sensor_msgs/RegionOfInterest]` (topic) + +#### Dependencies + +- `sensor_msg/Image` +- `sensor_msgs/RegionOfInterest` +- `sensor_msgs/Image` + + +--- + +### depthestimationfrommonocular + +Node *Depth estimation from monocular* (id: `depthestimationfrommonocular`) is overseen by UNITN. + + + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + - Input: `input` (undefined) + + - Output: `depth` (undefined) + +#### Dependencies + +- `std_msgs/Empty` + + +--- + +### robotfunctionallayer + +Node *Robot functional layer* (id: `robotfunctionallayer`) is overseen by PAL. + + + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + - Input: `input` (undefined) + + +#### Dependencies + +- `std_msgs/Empty` + + +--- + +### fairmotmultipeoplebodytracker + +Node *FairMOT Multi-people body tracker* (id: `fairmotmultipeoplebodytracker`) 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/ + +#### Status + +**Current release: devel** + +#### Inputs/outputs + + - Input: `/camera_head/color/image_raw [sensor_msgs/Image]` (topic) + + - Output: `/h/b/*/cropped [sensor_msg/Image]` (topic) + - Output: `/h/b/*/roi [sensor_msgs/RegionOfInterest` (undefined) + +#### Dependencies + +- `sensor_msg/Image` +- `sensor_msgs/Image` +- `std_msgs/Empty` + + +--- + +### mode + +Node *MoDE* (id: `mode`) is overseen by BIU. + +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 + +#### Status + +**Current release: BIU_dev** + +#### Inputs/outputs + + - Input: `sound localization` (undefined) + - Input: `/audio/ego_audio [audio_common_msgs/AudioData]` (topic) + - Input: `/audio/raw_audio [respeaker_ros/RawAudioData]` (topic) + + - Output: `/audio/postprocess_audio_streams [audio_common_msgs/AudioData]` (topic) + +#### Dependencies + +- `audio_common_msgs/AudioData` +- `std_msgs/Empty` +- `respeaker_ros/RawAudioData` + + +--- + +### speechsynthesis + +Node *Speech synthesis* (id: `speechsynthesis`) is overseen by PAL. + + + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + - Input: `speech [std_msgs/String]` (undefined) + + - Output: `/tts/feedback` (undefined) + +#### Dependencies + +- `std_msgs/Empty` + + +--- + +### uservisualfocus + +Node *User visual focus* (id: `uservisualfocus`) is overseen by UNITN. + + + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + - Input: `scene` (undefined) + - Input: `attention` (undefined) + - Input: `depth` (undefined) + - Input: `gaze direction` (undefined) + + - Output: `who's looking at what?` (undefined) + - Output: `/h/i/gaze [hri_msgs/Gaze]` (topic) + +#### Dependencies + +- `std_msgs/Empty` +- `hri_msgs/Gaze` + + +--- + +### orbslam + +Node *ORB SLAM* (id: `orbslam`) is overseen by PAL. + + + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + - Input: `/camera_torso/color/image_raw [sensor_msgs/Image]` (topic) + + - Output: `/map [nav_msgs/OccupancyGrid]` (topic) + - Output: `tf: /odom` (tf) + +#### Dependencies + +- `nav_msgs/OccupancyGrid` +- `tf/transform_broadcaster` +- `sensor_msgs/Image` + + +--- + +### robot_behavior + +Node *robot_behavior* (id: `robot_behavior`) 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 + +#### Status + +**Current release: devel** + +#### Inputs/outputs + + - Input: `following/nav goals` (undefined) + - Input: `status` (undefined) + - Input: `/h/i/groups [hri_msgs/Group]` (topic) + - Input: `look at` (undefined) + - Input: `occupancy map` (undefined) + + - Output: `status` (undefined) + - Output: `low-level actions` (undefined) + +#### Dependencies + +- `std_msgs/Empty` +- `hri_msgs/Group` + + +--- + +### semanticmapping + +Node *Semantic mapping* (id: `semanticmapping`) is overseen by CVUT. + + + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + - Input: `dense 3d map` (undefined) + - Input: `/detected_objects [spring_msgs/DetectedObjectArray]` (topic) + + - Output: `scene graph` (undefined) + +#### Dependencies + +- `std_msgs/Empty` +- `spring_msgs/DetectedObjectArray` + + +--- + +### social_scene_context_understanding + +Node *social_scene_context_understanding* (id: `social_scene_context_understanding`) is overseen by HWU. + +REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git +SUBFOLDER:social_scene_context_understanding + +#### Status + +**Current release: spring_dev** + +#### Inputs/outputs + + - Input: `scene graph` (undefined) + + - Output: `semantic description` (undefined) + +#### Dependencies + +- `std_msgs/Empty` + + +--- + +### robotgui + +Node *Robot GUI* (id: `robotgui`) is overseen by ERM. + + + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + - Input: `speech output` (undefined) + - Input: `additional support material` (undefined) + - Input: `/h/v/*/speech [hri_msgs/LiveSpeech]` (topic) + - Input: `/tts/feedback` (undefined) + + +#### Dependencies + +- `std_msgs/Empty` +- `hri_msgs/LiveSpeech` + + +--- + +### ros_openpose + +Node *ros_openpose* (id: `ros_openpose`) is overseen by UNITN. + +REPO:git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git +SUBFOLDER:ros_openpose + +#### Status + +**Current release: 0.0.1** + +#### Inputs/outputs + + - Input: `/h/b/*/cropped [sensor_msg/Image]` (topic) + + - Output: `/h/b/*/skeleton2d [hri_msgs/Skeleton2D]` (topic) + +#### Dependencies + +- `sensor_msg/Image` +- `hri_msgs/Skeleton2D` + + +--- + +### activityreco + +Node *Activity reco* (id: `activityreco`) is overseen by UNITN. + + + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + - Input: `TF (bodies)` (undefined) + - Input: `gaze direction` (undefined) + + - Output: `[?] output` (undefined) + +#### Dependencies + +- `std_msgs/Empty` + + +--- + +### robot_behaviour_plan_actions + +Node *robot_behaviour_plan_actions* (id: `robot_behaviour_plan_actions`) is overseen by HWU. + +REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git +SUBFOLDER:robot_behaviour_plan_actions + +#### Status + +**Current release: spring_dev** + +#### Inputs/outputs + + - Input: `TF (persons)` (undefined) + - Input: `semantic scene description` (undefined) + - Input: `dialogue state` (undefined) + - Input: `/h/p/*/softbiometrics [hri_msgs/Softbiometrics]` (topic) + + - Output: `nav goals` (undefined) + - Output: `interaction state` (undefined) + - Output: `output` (undefined) + +#### Dependencies + +- `std_msgs/Empty` +- `hri_msgs/Softbiometrics` + + +--- + +### multipersonaudiotracking + +Node *Multi-person audio tracking* (id: `multipersonaudiotracking`) is overseen by BIU. + + + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + - Input: `/h/v/*/audio [audio_common_msgs/AudioData]` (topic) + + - Output: `tracking information` (undefined) + - Output: `output` (undefined) + - Output: `source angle` (undefined) + - Output: `tf: /voice_id` (tf) + +#### Dependencies + +- `audio_common_msgs/AudioData` +- `std_msgs/Empty` +- `tf/transform_broadcaster` + + +--- + +### inlocros + +Node *InLoc-ROS* (id: `inlocros`) is overseen by CVUT. + + + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + - Input: `/camera_torso/color/image_torso [sensor_msgs/Image]` (topic) + - Input: `/camera_head/color/image_head [sensor_msgs/Image]` (topic) + - Input: `localisation prior` (undefined) + + - Output: `dense 3d map` (undefined) + - Output: `tf: /odom` (tf) + +#### Dependencies + +- `std_msgs/Empty` +- `tf/transform_broadcaster` +- `sensor_msgs/Image` + + +--- + +### google_asr + +Node *google_asr* (id: `google_asr`) is overseen by BIU. + +REPO:https://gitlab.inria.fr/spring/wp5_spoken_conversations/asr +SUBFOLDER:google_asr/google_asr + +#### Status + +**Current release: BIU_dev** + +#### Inputs/outputs + + - Input: `/audio/postprocess_audio_streams [audio_common_msgs/AudioData]` (topic) + + - Output: `/audio/speech_streams -- array of hri_msgs/LiveSpeech` (undefined) + +#### Dependencies + +- `audio_common_msgs/AudioData` +- `std_msgs/Empty` + + +--- + +### occupancymap + +Node *Occupancy map* (id: `occupancymap`) is overseen by CVUT. + + + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + - Input: `dense 3d map` (undefined) + - Input: `TF (bodies)` (undefined) + + - Output: `/map_refined [nav_msgs/OccupancyGrid]` (topic) + +#### Dependencies + +- `std_msgs/Empty` +- `nav_msgs/OccupancyGrid` + + +--- + +### raspicam + +Node *raspicam* (id: `raspicam`) is overseen by PAL. + + + +#### Status + +**This node is currently auto-generated (mock-up)** + +#### Inputs/outputs + + + - Output: `/head_front_camera/color/image_raw [sensor_msgs/Image]` (topic) + +#### Dependencies + +- `sensor_msgs/Image` + + + +### Non-executable dependency: interaction_manager_msgs + +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 + + +#### Status + +**Current release: spring_dev** + +#### Dependencies + + + + + +### Non-executable dependency: hri_msgs + +Module hri_msgs (id: `hri_msgs`) is overseen by PAL. + +REPO: git@gitlab:ros4hri/hri_msgs.git +NOT EXECUTABLE + + +#### Status + +**Current release: 0.1.1** + +#### Dependencies + + + + + +### Non-executable dependency: robot_behaviour_msgs + +Module robot_behaviour_msgs (id: `robot_behaviour_msgs`) is overseen by HWU. + +REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git +SUBFOLDER:robot_behaviour_msgs +NOT EXECUTABLE + + +#### Status + +**Current release: spring_dev** + +#### Dependencies + + + + + +### Non-executable dependency: audio_msgs + +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 + + +#### Status + +**Current release: spring_dev** + +#### Dependencies + + + + + +### Non-executable dependency: social_scene_msgs + +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 + + +#### Status + +**Current release: spring_dev** + +#### Dependencies + + + + + +### Non-executable dependency: wp4_msgs + +Module wp4_msgs (id: `wp4_msgs`) is overseen by UNITN. + +REPO:git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git +SUBFOLDER:wp4_msgs +NOT EXECUTABLE + + +#### Status + +**Current release: master** + +#### Dependencies + + + + +