diff --git a/architecture.json b/architecture.json
index dec1117948c9efbdf6e22745847c0e22eea25bc6..422fe50c7e347d35c8ded11943c9492214cc0024 100644
--- a/architecture.json
+++ b/architecture.json
@@ -6,6 +6,12 @@
"uuid" : "7590c224-e846-4f1c-9ecb-0a2992568089",
"version" : "0.1.1"
},
+ {
+ "description" : "REPO:git@gitlab.inria.fr:spring/wp7_ari/spring_msgs.git",
+ "name" : "DEPENDENCY: spring_msgs",
+ "uuid" : "754b3165-805d-469a-b604-4dfef5453911",
+ "version" : "0.0.2"
+ },
{
"description" : "REPO:git@gitlab.inria.fr:spring/wp7_ari/respeaker_ros.git",
"name" : "respeaker_ros",
@@ -15,52 +21,28 @@
{
"connections" : [
{
- "from" : "49998d33-7c64-4557-b1c9-56b241b59600:/h/v/voiceID/speech",
- "name" : "anonymous",
- "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:speech",
- "uuid" : "ffdb876d-4113-4a72-808d-a0a624d50ca7"
- },
- {
- "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/h/b/*/roi [hri_msgs/RegionOfInterestStamped]",
+ "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:/h/f/*/roi [hri_msgs/RegionOfInterestStamped]",
"name" : "anonymous",
- "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:matchers",
- "uuid" : "5c32d0f0-6f03-4866-8fea-f333ec994fc6"
+ "to" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/h/f/*/roi [hri_msgs/RegionOfInterestStamped]",
+ "uuid" : "cc656080-5976-492e-87d3-2c9e177aaf40"
},
{
"from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/camera_head/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:/camera_head/color/image_raw [sensor_msgs/Image]",
- "uuid" : "52344796-4c01-4c66-b4f7-95bd4729c3d8"
- },
- {
- "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/h/v/voiceID/audio",
- "name" : "anonymous",
- "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:input",
- "uuid" : "85ab3981-0dca-4f74-beb1-8d4c940bd930"
- },
- {
- "from" : "b70f5085-b32c-47de-b158-73fc4d83fb93:personID",
- "name" : "anonymous",
- "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:matchers",
- "uuid" : "bd9d1c95-32d1-4be0-b858-5bd71b12fdd8"
+ "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:ground plane",
+ "uuid" : "bc98685f-cced-4a13-9b13-6590f31fc577"
},
{
- "from" : "c05b65cc-b421-49e5-b180-0ab31ca1ee7b:speech",
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:active personID",
"name" : "anonymous",
- "to" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:input",
- "uuid" : "438c370d-ac3d-4bce-a3b1-288ac9d99671"
+ "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/h/v/*/speech [std_msgs/String]",
+ "uuid" : "edb7145b-77e7-463a-8b29-f8f2df17cfee"
},
{
"from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/h/b/*/roi [hri_msgs/RegionOfInterestStamped]",
"name" : "anonymous",
- "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:people RoIs",
- "uuid" : "5f1d7cad-c4ba-4c81-a411-241505837aa1"
- },
- {
- "from" : "49998d33-7c64-4557-b1c9-56b241b59600:/h/v/voiceID/speech",
- "name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:speech input",
- "uuid" : "db3221a7-783a-4ffb-9ca2-8d074e9706fd"
+ "to" : "9b7043cb-efee-4cbb-b1e6-e88e6d0d68bc:/h/b/*/roi [hri_msgs/RegionOfInterestStamped]",
+ "uuid" : "88460958-7617-470b-8702-5ff1311aa66e"
},
{
"from" : "1929373a-59ae-474d-bc1b-a2d0be2417cd:/camera_torso/color/image_raw [sensor_msgs/Image]",
@@ -69,124 +51,100 @@
"uuid" : "e7e489c0-507d-4ddb-97fd-a397ca6a74a0"
},
{
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:next utterance",
- "name" : "anonymous",
- "to" : "c05b65cc-b421-49e5-b180-0ab31ca1ee7b:input",
- "uuid" : "d614341e-5284-4dd9-85c7-ad6dfaf4ab5e"
- },
- {
- "from" : "4071a411-0acc-401d-8bbb-bb47fdc00697:tf: /body_id",
+ "from" : "1e291716-8134-4fd0-8bfa-0d910d026fec:dense 3d map",
"name" : "anonymous",
- "to" : "709731e0-4ed1-4681-8f7f-7a96a622db37:input",
- "uuid" : "7bb790c9-5a5d-43ec-bd4e-cd396ae84b09"
+ "to" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:dense 3d map",
+ "uuid" : "42b5f41f-7a83-4ed2-88c5-c23ed58b6742"
},
{
- "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/personID/...",
+ "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/camera_head/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:speech",
- "uuid" : "fc419899-3ae9-4c37-93e0-39a8ea402c21"
+ "to" : "b357b248-d5a8-445d-9c09-5c567d074966:/camera_head/color/image_raw [sensor_msgs/Image]",
+ "uuid" : "467474d3-a155-434e-9203-4a9fe8b18b84"
},
{
- "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/h/b/*/roi [hri_msgs/RegionOfInterestStamped]",
+ "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:next utterance",
"name" : "anonymous",
- "to" : "c9c1df26-7274-4765-8772-b06e15f87c3c:/h/b/*/roi [hri_msgs/RegionOfInterestStamped]",
- "uuid" : "d51f420e-8f96-498d-a29c-8f194644da16"
+ "to" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:speech [std_msgs/String]",
+ "uuid" : "9d1fa155-b8c9-464f-a6b0-7a5b435833cd"
},
{
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:gestures",
+ "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/*/body_id [std_msgs/String]",
"name" : "anonymous",
- "to" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:input",
- "uuid" : "1b666d89-6a0a-46bb-9b96-72e8a7cbe369"
+ "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/h/v/*/speech [std_msgs/String]",
+ "uuid" : "fc419899-3ae9-4c37-93e0-39a8ea402c21"
},
{
- "from" : "c9c1df26-7274-4765-8772-b06e15f87c3c:/h/b/*/skeleton2d [hri_msgs/Skeleton2D]",
+ "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:next utterance",
"name" : "anonymous",
- "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:feet position",
- "uuid" : "917f4d3e-5b78-4fd4-bc19-b776e8913206"
+ "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:speech output",
+ "uuid" : "426656f1-0bfe-4b24-b55c-f1fbe35d0f24"
},
{
- "from" : "1929373a-59ae-474d-bc1b-a2d0be2417cd:/camera_torso/color/image_raw [sensor_msgs/Image]",
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:nav goals",
"name" : "anonymous",
- "to" : "814e358a-b568-4082-99f3-4629d35e7f2e:/camera_torso/color/image_raw [sensor_msgs/Image]",
- "uuid" : "ff126a79-e742-43f3-af26-df44dc0363ae"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:following/nav goals",
+ "uuid" : "8349f12e-ea96-4d0d-a315-1ad231539936"
},
{
"from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:/h/f/*/roi [hri_msgs/RegionOfInterestStamped]",
"name" : "anonymous",
- "to" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a:/h/f/*/roi [hri_msgs/RegionOfInterestStamped]",
- "uuid" : "30e6e7f9-cf27-4ae4-b695-058b48809f98"
+ "to" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:/h/f/*/roi [hri_msgs/RegionOfInterestStamped]",
+ "uuid" : "477e0004-b15d-46b9-b6a0-80c8963b36c0"
},
{
- "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/camera_head/color/image_raw [sensor_msgs/Image]",
+ "from" : "b600af28-8f8a-4da9-89df-12b621f45244:output",
"name" : "anonymous",
- "to" : "b357b248-d5a8-445d-9c09-5c567d074966:/camera_head/color/image_raw [sensor_msgs/Image]",
- "uuid" : "467474d3-a155-434e-9203-4a9fe8b18b84"
+ "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:feet position",
+ "uuid" : "1f319e0a-3956-45c1-9000-adcb6c4a9dc1"
},
{
- "from" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:semantic description",
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:interaction state",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:semantic scene description",
- "uuid" : "0c15a3cf-3d24-491b-bbc4-e6d34b1c265c"
+ "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:interaction messages",
+ "uuid" : "ed16d30f-ff2e-4f62-b96d-ba128166c0f6"
},
{
"from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/camera_head/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:ground plane",
- "uuid" : "bc98685f-cced-4a13-9b13-6590f31fc577"
- },
- {
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:next utterance",
- "name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:speech output",
- "uuid" : "426656f1-0bfe-4b24-b55c-f1fbe35d0f24"
- },
- {
- "from" : "b600af28-8f8a-4da9-89df-12b621f45244:output",
- "name" : "anonymous",
- "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:feet position",
- "uuid" : "1f319e0a-3956-45c1-9000-adcb6c4a9dc1"
- },
- {
- "from" : "1e291716-8134-4fd0-8bfa-0d910d026fec:dense 3d map",
- "name" : "anonymous",
- "to" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:dense 3d map",
- "uuid" : "42b5f41f-7a83-4ed2-88c5-c23ed58b6742"
+ "to" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/camera_head/color/image_raw [sensor_msgs/Image]",
+ "uuid" : "deec310c-9738-4df9-9ca5-83acc6e68ede"
},
{
- "from" : "814e358a-b568-4082-99f3-4629d35e7f2e:tf: /odom",
+ "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/h/b/*/roi [hri_msgs/RegionOfInterestStamped]",
"name" : "anonymous",
- "to" : "1e291716-8134-4fd0-8bfa-0d910d026fec:localisation prior",
- "uuid" : "b5c8c9c8-32a9-431a-ad91-a8c3f873bee5"
+ "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:candidate_matchs [hri_msgs/IdsMatch]",
+ "uuid" : "5c32d0f0-6f03-4866-8fea-f333ec994fc6"
},
{
- "from" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:semantic description",
+ "from" : "49998d33-7c64-4557-b1c9-56b241b59600:/h/v/*/speech [std_msgs/String]",
"name" : "anonymous",
- "to" : "35d5af59-53e3-466c-874d-89131352c403:semantic scene description",
- "uuid" : "c8b7ebbb-8ba7-4c32-9b99-76a5806b9e3b"
+ "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/h/v/*/speech [std_msgs/String]",
+ "uuid" : "db3221a7-783a-4ffb-9ca2-8d074e9706fd"
},
{
- "from" : "48ed53a1-16b6-42b8-9c8f-6df5dce5b604:tf: /voice_id",
+ "from" : "b357b248-d5a8-445d-9c09-5c567d074966:/detected_objects [spring_msgs/DetectedObjectArray]",
"name" : "anonymous",
- "to" : "2ded2b25-08c5-4cdd-9741-af9a0316c1ae:input",
- "uuid" : "6acbcd00-fda6-45c7-b4d9-3fd5397446c3"
+ "to" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:/detected_objects [spring_msgs/DetectedObjectArray]",
+ "uuid" : "7c0fa9d2-5c6c-402b-bc90-78d2f32807e5"
},
{
- "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/h/v/voiceID/audio",
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:who to look at",
"name" : "anonymous",
- "to" : "e9861836-caed-4c19-87e2-13ba1a380613:voices [future]",
- "uuid" : "bcf61ec7-9e2d-4b9b-a753-33f2a011e819"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:look at",
+ "uuid" : "24403468-2363-4349-b05e-8800f239e890"
},
{
- "from" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/h/f/*/demographics [hri_msgs/AgeAndGender]",
+ "from" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:x,y + attention heatmap",
"name" : "anonymous",
- "to" : "35d5af59-53e3-466c-874d-89131352c403:demographics",
- "uuid" : "8497fa30-5d68-4f2d-809d-c596395cc58f"
+ "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:attention",
+ "uuid" : "c38977a5-ea01-41e3-b161-164b84e18fa8"
},
{
- "from" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:tf: /face_id_gaze",
+ "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/*/body_id [std_msgs/String]",
"name" : "anonymous",
- "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:gaze direction",
- "uuid" : "0de8cacd-26a8-4d65-b9d1-266658e3c74c"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/h/p/personID",
+ "uuid" : "9c3a70db-3bc2-46bb-9af3-2402bf296ceb"
},
{
"from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/camera_head/color/image_raw [sensor_msgs/Image]",
@@ -195,28 +153,28 @@
"uuid" : "8350e9d1-a6df-40bc-b74a-03efc53c5254"
},
{
- "from" : "1e291716-8134-4fd0-8bfa-0d910d026fec:dense 3d map",
+ "from" : "1929373a-59ae-474d-bc1b-a2d0be2417cd:/camera_torso/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "b62de7f5-7899-48fd-a64d-3226e68bb21f:dense 3d map",
- "uuid" : "24a4329e-5669-4cd5-bc57-08fbb0c1f859"
+ "to" : "814e358a-b568-4082-99f3-4629d35e7f2e:/camera_torso/color/image_raw [sensor_msgs/Image]",
+ "uuid" : "ff126a79-e742-43f3-af26-df44dc0363ae"
},
{
- "from" : "35d5af59-53e3-466c-874d-89131352c403:nav goals",
+ "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:/h/f/*/roi [hri_msgs/RegionOfInterestStamped]",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:following/nav goals",
- "uuid" : "8349f12e-ea96-4d0d-a315-1ad231539936"
+ "to" : "e9861836-caed-4c19-87e2-13ba1a380613:/h/f/*/roi [hri_msgs/RegionOfInterestStamped]",
+ "uuid" : "a2a69657-28ce-4f09-96d3-d68d1f73dced"
},
{
- "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:/h/f/*/roi [hri_msgs/RegionOfInterestStamped]",
+ "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/h/v/*/audio [audio_common_msgs/AudioData]",
"name" : "anonymous",
- "to" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:/h/f/*/roi [hri_msgs/RegionOfInterestStamped]",
- "uuid" : "477e0004-b15d-46b9-b6a0-80c8963b36c0"
+ "to" : "b70f5085-b32c-47de-b158-73fc4d83fb93:/h/v/*/audio [audio_common_msgs/AudioData]",
+ "uuid" : "33421a71-54bc-484c-8110-48814a68a15b"
},
{
- "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/h/v/voiceID/audio",
+ "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/h/v/*/audio [audio_common_msgs/AudioData]",
"name" : "anonymous",
- "to" : "49998d33-7c64-4557-b1c9-56b241b59600:input",
- "uuid" : "e0f50043-61b7-4e94-a91e-f9a4f519e511"
+ "to" : "e9861836-caed-4c19-87e2-13ba1a380613:/h/v/*/audio [audio_common_msgs/AudioData]",
+ "uuid" : "bcf61ec7-9e2d-4b9b-a753-33f2a011e819"
},
{
"from" : "9ab39362-e233-44d2-9d06-dd24694446f2:DialogueState",
@@ -225,53 +183,65 @@
"uuid" : "edb67b60-5748-4e4f-bc1c-66f386b4a870"
},
{
- "from" : "b357b248-d5a8-445d-9c09-5c567d074966:[TBD] /detected_objects [spring_msgs/Objects]",
+ "from" : "b62de7f5-7899-48fd-a64d-3226e68bb21f:/map_refined [nav_msgs/OccupancyGrid]",
"name" : "anonymous",
- "to" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:detected_objects",
- "uuid" : "7c0fa9d2-5c6c-402b-bc90-78d2f32807e5"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:occupancy map",
+ "uuid" : "fd48565b-cdbc-4fcd-a5fd-f3983311a074"
},
{
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:who to look at",
+ "from" : "b70f5085-b32c-47de-b158-73fc4d83fb93:person_id_candidate [hri_msgs/IdsMatch]",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:look at",
- "uuid" : "24403468-2363-4349-b05e-8800f239e890"
+ "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:candidate_matchs [hri_msgs/IdsMatch]",
+ "uuid" : "bd9d1c95-32d1-4be0-b858-5bd71b12fdd8"
},
{
- "from" : "1e291716-8134-4fd0-8bfa-0d910d026fec:tf: /odom",
+ "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/camera_head/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "e4848564-4b20-4667-b107-b1abe9b97cb5:input",
- "uuid" : "5982159d-2eb1-426c-85e6-8e5379198dc5"
+ "to" : "1e291716-8134-4fd0-8bfa-0d910d026fec:/camera_head/color/image_head [sensor_msgs/Image]",
+ "uuid" : "f02baefa-2160-49be-ada0-6cf0e843447f"
},
{
- "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/raw_audio [respeaker_ros/RawAudioData]",
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:gestures",
"name" : "anonymous",
- "to" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:input",
- "uuid" : "725d3768-1e9d-4591-8590-c2ad18a22db6"
+ "to" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:input",
+ "uuid" : "1b666d89-6a0a-46bb-9b96-72e8a7cbe369"
},
{
- "from" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/h/f/*/demographics [hri_msgs/AgeAndGender]",
+ "from" : "49998d33-7c64-4557-b1c9-56b241b59600:/h/v/*/speech [std_msgs/String]",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:input",
- "uuid" : "29cfa94f-c3b2-4feb-a256-44b7d1dbb304"
+ "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/h/v/*/speech [std_msgs/String]",
+ "uuid" : "ffdb876d-4113-4a72-808d-a0a624d50ca7"
},
{
- "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/camera_head/color/image_raw [sensor_msgs/Image]",
+ "from" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:/h/i/gaze [hri_msgs/GazesStamped]",
"name" : "anonymous",
- "to" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/camera_head/color/image_raw [sensor_msgs/Image]",
- "uuid" : "deec310c-9738-4df9-9ca5-83acc6e68ede"
+ "to" : "4a610776-d94b-4f35-9871-b835e8e0faf7:/h/i/gaze [hri_msgs/GazesStamped]",
+ "uuid" : "76fdc6fe-e123-4a43-a6f5-20429c1a7d69"
},
{
- "from" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:scene graph",
+ "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/h/b/*/roi [hri_msgs/RegionOfInterestStamped]",
"name" : "anonymous",
- "to" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:scene graph",
- "uuid" : "b10cbc39-5513-44e6-81ef-1c010a9c940b"
+ "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:people RoIs",
+ "uuid" : "5f1d7cad-c4ba-4c81-a411-241505837aa1"
+ },
+ {
+ "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:/h/f/*/roi [hri_msgs/RegionOfInterestStamped]",
+ "name" : "anonymous",
+ "to" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a:/h/f/*/roi [hri_msgs/RegionOfInterestStamped]",
+ "uuid" : "30e6e7f9-cf27-4ae4-b695-058b48809f98"
},
{
- "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/h/v/voiceID/audio",
+ "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/h/v/*/audio [audio_common_msgs/AudioData]",
"name" : "anonymous",
- "to" : "48ed53a1-16b6-42b8-9c8f-6df5dce5b604:input",
+ "to" : "48ed53a1-16b6-42b8-9c8f-6df5dce5b604:/h/v/*/audio [audio_common_msgs/AudioData]",
"uuid" : "b3b69e14-260e-4ecc-9f4a-e13ef36783f7"
},
+ {
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:interaction state",
+ "name" : "anonymous",
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:robot state",
+ "uuid" : "0a79dcb8-dd0c-44de-ab5a-69905131ab0e"
+ },
{
"from" : "9ab39362-e233-44d2-9d06-dd24694446f2:DialogueState",
"name" : "anonymous",
@@ -285,28 +255,46 @@
"uuid" : "030d86be-bbbc-4e20-8ec6-07484f776a21"
},
{
- "from" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:x,y + attention heatmap",
+ "from" : "c9c1df26-7274-4765-8772-b06e15f87c3c:/h/b/*/skeleton2d [hri_msgs/Skeleton2D]",
"name" : "anonymous",
- "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:attention",
- "uuid" : "c38977a5-ea01-41e3-b161-164b84e18fa8"
+ "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:feet position",
+ "uuid" : "917f4d3e-5b78-4fd4-bc19-b776e8913206"
},
{
- "from" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:who's looking at who? [hri_msgs/GazesStamped]",
+ "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/camera_head/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "4a610776-d94b-4f35-9871-b835e8e0faf7:who's looking at who",
- "uuid" : "76fdc6fe-e123-4a43-a6f5-20429c1a7d69"
+ "to" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:/camera_head/color/image_raw [sensor_msgs/Image]",
+ "uuid" : "52344796-4c01-4c66-b4f7-95bd4729c3d8"
},
{
- "from" : "b357b248-d5a8-445d-9c09-5c567d074966:[TBD] /detected_objects [spring_msgs/Objects]",
+ "from" : "633be9cd-9f1b-4cdd-b708-a1edd3742842:depth",
"name" : "anonymous",
- "to" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:scene graph",
- "uuid" : "9c1781a3-c390-4628-acdc-cc8617942046"
+ "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:depth",
+ "uuid" : "01e249b4-2c34-4be3-9f05-ccb2ddacb8a0"
},
{
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:active personID",
+ "from" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/h/f/*/demographics [hri_msgs/AgeAndGender]",
"name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:speech input",
- "uuid" : "edb7145b-77e7-463a-8b29-f8f2df17cfee"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:input",
+ "uuid" : "29cfa94f-c3b2-4feb-a256-44b7d1dbb304"
+ },
+ {
+ "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/raw_audio [respeaker_ros/RawAudioData]",
+ "name" : "anonymous",
+ "to" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/audio/raw_audio [respeaker_ros/RawAudioData]",
+ "uuid" : "725d3768-1e9d-4591-8590-c2ad18a22db6"
+ },
+ {
+ "from" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/h/f/*/demographics [hri_msgs/AgeAndGender]",
+ "name" : "anonymous",
+ "to" : "35d5af59-53e3-466c-874d-89131352c403:demographics",
+ "uuid" : "8497fa30-5d68-4f2d-809d-c596395cc58f"
+ },
+ {
+ "from" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:tf: /face_id_gaze",
+ "name" : "anonymous",
+ "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:gaze direction",
+ "uuid" : "0de8cacd-26a8-4d65-b9d1-266658e3c74c"
},
{
"from" : "e9861836-caed-4c19-87e2-13ba1a380613:/h/f/*/expression [hri_msgs/Expression]",
@@ -321,33 +309,33 @@
"uuid" : "3468cd8a-4c44-424a-977e-3d431e2f62bd"
},
{
- "from" : "35d5af59-53e3-466c-874d-89131352c403:interaction state",
+ "from" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:/tts/feedback",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:robot state",
- "uuid" : "0a79dcb8-dd0c-44de-ab5a-69905131ab0e"
+ "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/tts/feedback",
+ "uuid" : "d18bf8c0-9a5e-478d-9d8a-a6ebc5ac0188"
},
{
- "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/personID/...",
+ "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/camera_head/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/h/p/personID",
- "uuid" : "9c3a70db-3bc2-46bb-9af3-2402bf296ceb"
+ "to" : "9b7043cb-efee-4cbb-b1e6-e88e6d0d68bc:/camera_head/color/image_raw [sensor_msgs/Image]",
+ "uuid" : "1b84547a-6183-4c06-8991-c5827ceee5ef"
},
{
- "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/camera_head/color/image_raw [sensor_msgs/Image]",
+ "from" : "8a4e7f8e-3ade-4e30-9f41-1bfeee90055b:person_id_candidate [hri_msgs/IdsMatch]",
"name" : "anonymous",
- "to" : "1e291716-8134-4fd0-8bfa-0d910d026fec:/camera_head/color/image_head [sensor_msgs/Image]",
- "uuid" : "f02baefa-2160-49be-ada0-6cf0e843447f"
+ "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:candidate_matchs [hri_msgs/IdsMatch]",
+ "uuid" : "c0e2fb4b-26a7-498e-896b-e3278a6224e6"
},
{
"from" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/h/f/*/demographics [hri_msgs/AgeAndGender]",
"name" : "service call on first person detection",
- "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:demographics",
+ "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/f/*/demographics [hri_msgs/AgeAndGender]",
"uuid" : "524ee896-7eeb-4b36-96f8-e03fa454f837"
},
{
"from" : "4a610776-d94b-4f35-9871-b835e8e0faf7:/h/i/groups [hri_msgs/GroupsStamped]",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:groups",
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/h/i/groups [hri_msgs/GroupsStamped]",
"uuid" : "a6026287-9a20-4be2-a097-95ca3a0e19fc"
},
{
@@ -357,321 +345,349 @@
"uuid" : "c379435f-7cba-4ecc-9b49-405379374dfe"
},
{
- "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/h/v/voiceID/audio",
+ "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/h/v/*/audio [audio_common_msgs/AudioData]",
"name" : "anonymous",
- "to" : "b70f5085-b32c-47de-b158-73fc4d83fb93:input",
- "uuid" : "33421a71-54bc-484c-8110-48814a68a15b"
+ "to" : "49998d33-7c64-4557-b1c9-56b241b59600:/h/v/*/audio [audio_common_msgs/AudioData]",
+ "uuid" : "e0f50043-61b7-4e94-a91e-f9a4f519e511"
},
{
- "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:tf: /person_id",
+ "from" : "1e291716-8134-4fd0-8bfa-0d910d026fec:dense 3d map",
"name" : "anonymous",
- "to" : "cea219fc-27ef-457e-8e99-3540074dc430:input",
- "uuid" : "4236dfb6-3852-45d6-a061-05af75a502cf"
+ "to" : "b62de7f5-7899-48fd-a64d-3226e68bb21f:dense 3d map",
+ "uuid" : "24a4329e-5669-4cd5-bc57-08fbb0c1f859"
},
{
- "from" : "8a4e7f8e-3ade-4e30-9f41-1bfeee90055b:/h/persons/<personID>/body_id",
+ "from" : "814e358a-b568-4082-99f3-4629d35e7f2e:tf: /odom",
"name" : "anonymous",
- "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:matchers",
- "uuid" : "c0e2fb4b-26a7-498e-896b-e3278a6224e6"
+ "to" : "1e291716-8134-4fd0-8bfa-0d910d026fec:localisation prior",
+ "uuid" : "b5c8c9c8-32a9-431a-ad91-a8c3f873bee5"
},
{
- "from" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:/tts/feedback",
+ "from" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:semantic description",
"name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/tts/feedback",
- "uuid" : "d18bf8c0-9a5e-478d-9d8a-a6ebc5ac0188"
+ "to" : "35d5af59-53e3-466c-874d-89131352c403:semantic scene description",
+ "uuid" : "c8b7ebbb-8ba7-4c32-9b99-76a5806b9e3b"
},
{
- "from" : "35d5af59-53e3-466c-874d-89131352c403:interaction state",
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:low-level actions",
"name" : "anonymous",
- "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:interaction messages",
- "uuid" : "ed16d30f-ff2e-4f62-b96d-ba128166c0f6"
+ "to" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:input",
+ "uuid" : "76376fcb-a31a-40db-9220-1fef7cf68fc8"
},
{
- "from" : "b62de7f5-7899-48fd-a64d-3226e68bb21f:/map_refined [nav_msgs/OccupancyGrid]",
+ "from" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:semantic description",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:occupancy map",
- "uuid" : "fd48565b-cdbc-4fcd-a5fd-f3983311a074"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:semantic scene description",
+ "uuid" : "0c15a3cf-3d24-491b-bbc4-e6d34b1c265c"
},
{
- "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:/h/f/*/roi [hri_msgs/RegionOfInterestStamped]",
+ "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/h/b/*/roi [hri_msgs/RegionOfInterestStamped]",
"name" : "anonymous",
- "to" : "e9861836-caed-4c19-87e2-13ba1a380613:/h/f/*/roi [hri_msgs/RegionOfInterestStamped]",
- "uuid" : "a2a69657-28ce-4f09-96d3-d68d1f73dced"
+ "to" : "c9c1df26-7274-4765-8772-b06e15f87c3c:/h/b/*/roi [hri_msgs/RegionOfInterestStamped]",
+ "uuid" : "d51f420e-8f96-498d-a29c-8f194644da16"
},
{
- "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:low-level actions",
+ "from" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:scene graph",
"name" : "anonymous",
- "to" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:input",
- "uuid" : "76376fcb-a31a-40db-9220-1fef7cf68fc8"
+ "to" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:scene graph",
+ "uuid" : "b10cbc39-5513-44e6-81ef-1c010a9c940b"
+ },
+ {
+ "from" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:scene graph",
+ "name" : "anonymous",
+ "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:scene",
+ "uuid" : "2c302ab0-19f5-4939-9345-4122d8e060be"
}
],
"description" : "EU H2020 SPRING architecture",
"name" : "SPRING architecture",
"nodes" : [
{
- "label" : "UNITN",
- "name" : "MOCK: Body 2D pose [openpose]",
+ "label" : "PAL",
+ "name" : "MOCK: RGB head [+ Fisheye stereo]",
"ports" : [
{
"direction" : "out",
- "name" : "/h/b/*/skeleton2d [hri_msgs/Skeleton2D]"
+ "name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
+ }
+ ],
+ "position" : [ 40, 1120 ],
+ "size" : [ 398, 120 ],
+ "uuid" : "a284bd3a-0273-4d81-89ce-bc8d042b2674"
+ },
+ {
+ "label" : "BIU",
+ "name" : "MOCK: Speech diarization",
+ "ports" : [
+ {
+ "direction" : "out",
+ "name" : "/h/v/*/audio_info [audio_common_msgs/AudioInfo]"
},
{
"direction" : "in",
- "name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
+ "name" : "/audio/raw_audio [respeaker_ros/RawAudioData]"
},
{
- "direction" : "in",
- "name" : "/h/b/*/roi [hri_msgs/RegionOfInterestStamped]"
+ "direction" : "out",
+ "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
}
],
- "position" : [ 620, 580 ],
+ "position" : [ 740, 220 ],
"size" : [ 440, 140 ],
- "uuid" : "c9c1df26-7274-4765-8772-b06e15f87c3c"
+ "uuid" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3"
},
{
"label" : "UNITN",
- "name" : "MOCK: F-formation",
+ "name" : "MOCK: Person re-identification",
"ports" : [
{
"direction" : "in",
- "name" : "who's looking at who"
- },
- {
- "direction" : "in",
- "name" : "tf: /person_id"
+ "name" : "/h/f/*/roi [hri_msgs/RegionOfInterestStamped]"
},
{
"direction" : "out",
- "name" : "/h/i/groups [hri_msgs/GroupsStamped]"
+ "name" : "person_id_candidate [hri_msgs/IdsMatch]"
}
],
- "position" : [ 3840, 860 ],
- "size" : [ 300, 160 ],
- "uuid" : "4a610776-d94b-4f35-9871-b835e8e0faf7"
+ "position" : [ 1400, 1140 ],
+ "size" : [ 345, 138 ],
+ "uuid" : "8a4e7f8e-3ade-4e30-9f41-1bfeee90055b"
},
{
- "label" : "Other",
- "name" : "TF",
+ "label" : "UNITN",
+ "name" : "MOCK: Mask detection",
"ports" : [
+ {
+ "direction" : "out",
+ "name" : "/h/f/*/mask [std_msgs/Bool]"
+ },
{
"direction" : "in",
- "name" : "input"
+ "name" : "/h/f/*/roi [hri_msgs/RegionOfInterestStamped]"
}
],
- "position" : [ 2040, 1300 ],
- "size" : [ 160, 120 ],
- "uuid" : "cea219fc-27ef-457e-8e99-3540074dc430"
+ "position" : [ 1400, 1460 ],
+ "size" : [ 345, 120 ],
+ "uuid" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a"
},
{
- "label" : "UNITN",
- "name" : "MOCK: Depth estimation from monocular",
+ "label" : "PAL",
+ "name" : "MOCK: RGB-D + camera_info",
"ports" : [
- {
- "direction" : "in",
- "name" : "input"
- },
{
"direction" : "out",
- "name" : "depth"
+ "name" : "/camera_torso/color/image_raw [sensor_msgs/Image]"
}
],
- "position" : [ 2520, 1040 ],
- "size" : [ 340, 160 ],
- "uuid" : "633be9cd-9f1b-4cdd-b708-a1edd3742842"
+ "position" : [ 20, 1940 ],
+ "size" : [ 440, 120 ],
+ "uuid" : "1929373a-59ae-474d-bc1b-a2d0be2417cd"
},
{
- "label" : "CVUT",
- "name" : "MOCK: Semantic mapping [resources permitting]",
+ "label" : "PAL",
+ "name" : "MOCK: ORB SLAM",
"ports" : [
{
- "direction" : "in",
- "name" : "detected_objects"
+ "direction" : "out",
+ "name" : "tf: /odom"
},
{
"direction" : "out",
- "name" : "scene graph"
+ "name" : "/map [nav_msgs/OccupancyGrid]"
},
{
"direction" : "in",
- "name" : "dense 3d map"
+ "name" : "/camera_torso/color/image_raw [sensor_msgs/Image]"
}
],
- "position" : [ 1420, 1640 ],
- "size" : [ 400, 144 ],
- "uuid" : "dc52fa2f-b098-4f96-a830-eb329bcf282b"
+ "position" : [ 500, 1760 ],
+ "size" : [ 400, 140 ],
+ "uuid" : "814e358a-b568-4082-99f3-4629d35e7f2e"
},
{
- "label" : "ERM",
- "name" : "MOCK: Robot GUI [tablet]",
+ "label" : "CVUT",
+ "name" : "MOCK: Object detection/identification/localisation",
"ports" : [
{
"direction" : "in",
- "name" : "speech output"
- },
- {
- "direction" : "in",
- "name" : "/tts/feedback"
- },
- {
- "direction" : "in",
- "name" : "additional support material"
+ "name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
},
{
- "direction" : "in",
- "name" : "speech input"
+ "direction" : "out",
+ "name" : "/detected_objects [spring_msgs/DetectedObjectArray]"
}
],
- "position" : [ 4520, 400 ],
- "size" : [ 400, 180 ],
- "uuid" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d"
+ "position" : [ 1000, 1680 ],
+ "size" : [ 440, 140 ],
+ "uuid" : "b357b248-d5a8-445d-9c09-5c567d074966"
},
{
"label" : "INRIA",
"name" : "MOCK: Multi-people body tracker",
"ports" : [
- {
- "direction" : "in",
- "name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
- },
{
"direction" : "out",
"name" : "/h/b/*/roi [hri_msgs/RegionOfInterestStamped]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
}
],
- "position" : [ 20, 760 ],
+ "position" : [ 560, 940 ],
"size" : [ 440, 120 ],
"uuid" : "d609252f-2fd4-4439-86c3-ece9fd387a3a"
},
{
- "label" : "UNITN",
- "name" : "MOCK: User attention estimation",
+ "label" : "Other",
+ "name" : "DEPENDENCY: hri_msgs",
+ "position" : [ 20, 2160 ],
+ "size" : [ 280, 120 ],
+ "sub_architecture" : "7590c224-e846-4f1c-9ecb-0a2992568089",
+ "uuid" : "b5076968-861b-43cb-8bd8-35a5fefebfe4"
+ },
+ {
+ "label" : "Other",
+ "name" : "DEPENDENCY: spring_msgs",
+ "position" : [ 360, 2160 ],
+ "size" : [ 240, 120 ],
+ "sub_architecture" : "754b3165-805d-469a-b604-4dfef5453911",
+ "uuid" : "2e89a11f-a4b0-4b5e-8d72-975d8c47c7f7"
+ },
+ {
+ "label" : "PAL",
+ "name" : "MOCK: Robot functional layer",
"ports" : [
- {
- "direction" : "out",
- "name" : "tf: /face_id_gaze"
- },
- {
- "direction" : "in",
- "name" : "/h/f/*/roi [hri_msgs/RegionOfInterestStamped]"
- },
- {
- "direction" : "out",
- "name" : "x,y + attention heatmap"
- },
{
"direction" : "in",
- "name" : "TF (faces)"
+ "name" : "input"
}
],
- "position" : [ 2460, 800 ],
- "size" : [ 398, 169 ],
- "uuid" : "46e542fd-7a41-4d9a-b3fc-981a724bf538"
+ "position" : [ 4360, 960 ],
+ "size" : [ 240, 120 ],
+ "uuid" : "20eb61ac-3243-41ed-b855-451cd88e4ae5"
},
{
- "label" : "UNITN",
- "name" : "MOCK: User visual focus",
+ "label" : "INRIA",
+ "name" : "MOCK: Person manager",
"ports" : [
{
- "direction" : "in",
- "name" : "attention"
+ "direction" : "out",
+ "name" : "tf: /person_id"
},
{
"direction" : "in",
- "name" : "gaze direction"
+ "name" : "TF (voices)"
},
{
- "direction" : "in",
- "name" : "input"
+ "direction" : "out",
+ "name" : "/h/p/*/body_id [std_msgs/String]"
},
{
"direction" : "in",
"name" : "TF (faces)"
},
+ {
+ "direction" : "in",
+ "name" : "candidate_matchs [hri_msgs/IdsMatch]"
+ },
{
"direction" : "out",
- "name" : "who's looking at what?"
+ "name" : "/h/p/*/voice_id [std_msgs/String]"
},
{
- "direction" : "in",
- "name" : "TF (persons)"
+ "direction" : "out",
+ "name" : "/h/p/*/face_id [std_msgs/String]"
},
{
"direction" : "in",
- "name" : "TF (bodies)"
+ "name" : "/h/f/*/demographics [hri_msgs/AgeAndGender]"
},
{
"direction" : "out",
- "name" : "who's looking at who? [hri_msgs/GazesStamped]"
+ "name" : "/h/p/*/demographics [hri_msgs/AgeAndGender]"
}
],
- "position" : [ 3280, 660 ],
- "size" : [ 351, 300 ],
- "uuid" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5"
+ "position" : [ 2380, 600 ],
+ "size" : [ 380, 980 ],
+ "uuid" : "43da963c-18a8-4ad7-86f6-f361a9d25d36"
},
{
"label" : "UNITN",
- "name" : "MOCK: Soft biometrics [age/gender]",
+ "name" : "MOCK: Depth estimation from monocular",
"ports" : [
{
- "direction" : "in",
- "name" : "/h/f/*/roi [hri_msgs/RegionOfInterestStamped]"
+ "direction" : "out",
+ "name" : "depth"
},
{
- "direction" : "out",
- "name" : "/h/f/*/demographics [hri_msgs/AgeAndGender]"
+ "direction" : "in",
+ "name" : "input"
}
],
- "position" : [ 1320, 1200 ],
- "size" : [ 346, 120 ],
- "uuid" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e"
+ "position" : [ 2940, 2000 ],
+ "size" : [ 340, 160 ],
+ "uuid" : "633be9cd-9f1b-4cdd-b708-a1edd3742842"
},
{
- "label" : "PAL",
- "name" : "MOCK: RGB head [+ Fisheye stereo]",
+ "label" : "CVUT",
+ "name" : "MOCK: Occupancy map",
"ports" : [
+ {
+ "direction" : "in",
+ "name" : "dense 3d map"
+ },
+ {
+ "direction" : "in",
+ "name" : "TF (bodies)"
+ },
{
"direction" : "out",
- "name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
+ "name" : "/map_refined [nav_msgs/OccupancyGrid]"
}
],
- "position" : [ -380, 1040 ],
- "size" : [ 398, 120 ],
- "uuid" : "a284bd3a-0273-4d81-89ce-bc8d042b2674"
+ "position" : [ 1580, 1920 ],
+ "size" : [ 440, 200 ],
+ "uuid" : "b62de7f5-7899-48fd-a64d-3226e68bb21f"
},
{
"label" : "UNITN",
- "name" : "MOCK: Mask detection",
+ "name" : "MOCK: User attention estimation",
"ports" : [
{
- "direction" : "in",
- "name" : "/h/f/*/roi [hri_msgs/RegionOfInterestStamped]"
+ "direction" : "out",
+ "name" : "tf: /face_id_gaze"
},
{
"direction" : "out",
- "name" : "/h/f/*/mask [std_msgs/Bool]"
+ "name" : "x,y + attention heatmap"
+ },
+ {
+ "direction" : "in",
+ "name" : "TF (faces)"
+ },
+ {
+ "direction" : "in",
+ "name" : "/h/f/*/roi [hri_msgs/RegionOfInterestStamped]"
}
],
- "position" : [ 780, 1220 ],
- "size" : [ 392, 120 ],
- "uuid" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a"
+ "position" : [ 2940, 1780 ],
+ "size" : [ 398, 169 ],
+ "uuid" : "46e542fd-7a41-4d9a-b3fc-981a724bf538"
},
{
"label" : "PAL",
- "name" : "MOCK: Speech synthesis",
+ "name" : "respeaker_ros",
"ports" : [
- {
- "direction" : "in",
- "name" : "input"
- },
{
"direction" : "out",
- "name" : "/tts/feedback"
+ "name" : "/audio/raw_audio [respeaker_ros/RawAudioData]"
}
],
- "position" : [ 4100, 600 ],
- "size" : [ 160, 120 ],
- "uuid" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104"
+ "position" : [ 40, 200 ],
+ "size" : [ 400, 120 ],
+ "sub_architecture" : "b96ac6ba-08a0-4df0-8341-206c356f7c87",
+ "uuid" : "3e7d7601-34c6-4975-9e36-f50968f141b2"
},
{
"label" : "HWU",
@@ -679,343 +695,241 @@
"ports" : [
{
"direction" : "in",
- "name" : "interaction messages"
+ "name" : "/h/v/*/speech [std_msgs/String]"
},
{
- "direction" : "in",
- "name" : "speech"
+ "direction" : "out",
+ "name" : "DialogueState"
},
{
- "direction" : "out",
- "name" : "next utterance"
+ "direction" : "in",
+ "name" : "interaction messages"
},
{
"direction" : "out",
- "name" : "DialogueState"
+ "name" : "next utterance"
}
],
- "position" : [ 2620, 180 ],
- "size" : [ 240, 169 ],
+ "position" : [ 2860, 180 ],
+ "size" : [ 300, 169 ],
"uuid" : "9ab39362-e233-44d2-9d06-dd24694446f2"
},
{
"label" : "UNITN",
- "name" : "MOCK: Face detection",
+ "name" : "MOCK: Body 2D pose [openpose]",
"ports" : [
{
"direction" : "out",
- "name" : "/h/f/*/roi [hri_msgs/RegionOfInterestStamped]"
+ "name" : "/h/b/*/skeleton2d [hri_msgs/Skeleton2D]"
},
{
"direction" : "in",
"name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/h/b/*/roi [hri_msgs/RegionOfInterestStamped]"
}
],
- "position" : [ 340, 1080 ],
- "size" : [ 400, 120 ],
- "uuid" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9"
+ "position" : [ 1360, 720 ],
+ "size" : [ 440, 140 ],
+ "uuid" : "c9c1df26-7274-4765-8772-b06e15f87c3c"
},
{
- "label" : "CVUT",
- "name" : "MOCK: Visual SLAM + 3D map",
+ "label" : "PAL",
+ "name" : "hri_fullbody",
"ports" : [
{
"direction" : "out",
- "name" : "tf: /odom"
+ "name" : "tf: /full_body"
},
{
"direction" : "out",
- "name" : "dense 3d map"
+ "name" : "/h/b/*/skeleton2d [hri_msgs/Skeleton2D]"
},
{
"direction" : "in",
- "name" : "localisation prior"
+ "name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
},
{
- "direction" : "in",
- "name" : "/camera_head/color/image_head [sensor_msgs/Image]"
+ "direction" : "out",
+ "name" : "/h/f/*/roi [hri_msgs/RegionOfInterestStamped]"
},
{
"direction" : "in",
- "name" : "/camera_torso/color/image_torso [sensor_msgs/Image]"
+ "name" : "/h/b/*/roi [hri_msgs/RegionOfInterestStamped]"
}
],
- "position" : [ 660, 1440 ],
- "size" : [ 400, 200 ],
- "uuid" : "1e291716-8134-4fd0-8bfa-0d910d026fec"
+ "position" : [ 1340, 880 ],
+ "size" : [ 520, 200 ],
+ "uuid" : "9b7043cb-efee-4cbb-b1e6-e88e6d0d68bc"
},
{
- "label" : "Other",
- "name" : "TF",
+ "label" : "PAL",
+ "name" : "MOCK: Speech synthesis",
"ports" : [
{
"direction" : "in",
- "name" : "input"
+ "name" : "speech [std_msgs/String]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/tts/feedback"
}
],
- "position" : [ 1100, 1600 ],
- "size" : [ 120, 60 ],
- "uuid" : "e4848564-4b20-4667-b107-b1abe9b97cb5"
+ "position" : [ 4320, 760 ],
+ "size" : [ 280, 120 ],
+ "uuid" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104"
},
{
"label" : "BIU",
"name" : "MOCK: Sound localisation",
"ports" : [
- {
- "direction" : "in",
- "name" : "input"
- },
{
"direction" : "out",
"name" : "tf: /voice_id"
+ },
+ {
+ "direction" : "in",
+ "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
}
],
- "position" : [ 1700, 60 ],
- "size" : [ 180, 120 ],
+ "position" : [ 1380, 20 ],
+ "size" : [ 400, 120 ],
"uuid" : "48ed53a1-16b6-42b8-9c8f-6df5dce5b604"
},
{
"label" : "INRIA",
- "name" : "MOCK: People 3D tracker [position/orientation]",
+ "name" : "MOCK: Robot non-verbal behaviours",
"ports" : [
- {
- "direction" : "in",
- "name" : "ground plane"
- },
- {
- "direction" : "in",
- "name" : "feet position"
- },
{
"direction" : "out",
- "name" : "tf: /body_id"
+ "name" : "low-level actions"
},
- {
- "direction" : "in",
- "name" : "people RoIs"
- }
- ],
- "position" : [ 1420, 640 ],
- "size" : [ 360, 180 ],
- "uuid" : "4071a411-0acc-401d-8bbb-bb47fdc00697"
- },
- {
- "label" : "HWU",
- "name" : "MOCK: High-level planner [decision making]",
- "ports" : [
{
"direction" : "out",
- "name" : "nav goals"
+ "name" : "status"
},
{
"direction" : "in",
- "name" : "dialogue state"
+ "name" : "look at"
},
{
"direction" : "in",
- "name" : "TF (persons)"
- },
- {
- "direction" : "out",
- "name" : "interaction state"
+ "name" : "following/nav goals"
},
{
"direction" : "in",
- "name" : "semantic scene description"
+ "name" : "status"
},
{
- "direction" : "out",
- "name" : "output"
+ "direction" : "in",
+ "name" : "occupancy map"
},
{
"direction" : "in",
- "name" : "demographics"
+ "name" : "/h/i/groups [hri_msgs/GroupsStamped]"
}
],
- "position" : [ 3400, 1700 ],
- "size" : [ 400, 293 ],
- "uuid" : "35d5af59-53e3-466c-874d-89131352c403"
+ "position" : [ 4000, 1240 ],
+ "size" : [ 380, 324 ],
+ "uuid" : "328fd73c-ead7-4b87-a815-401958fa77a2"
},
{
- "label" : "CVUT",
- "name" : "MOCK: Occupancy map",
+ "label" : "HWU",
+ "name" : "MOCK: High-level planner [decision making]",
"ports" : [
{
"direction" : "in",
- "name" : "TF (bodies)"
- },
- {
- "direction" : "in",
- "name" : "dense 3d map"
+ "name" : "semantic scene description"
},
{
"direction" : "out",
- "name" : "/map_refined [nav_msgs/OccupancyGrid]"
- }
- ],
- "position" : [ 1460, 1400 ],
- "size" : [ 340, 160 ],
- "uuid" : "b62de7f5-7899-48fd-a64d-3226e68bb21f"
- },
- {
- "label" : "Other",
- "name" : "TF",
- "ports" : [
- {
- "direction" : "in",
- "name" : "input"
- }
- ],
- "position" : [ 1960, 60 ],
- "size" : [ 160, 120 ],
- "uuid" : "2ded2b25-08c5-4cdd-9741-af9a0316c1ae"
- },
- {
- "label" : "PAL",
- "name" : "MOCK: Robot functional layer",
- "ports" : [
- {
- "direction" : "in",
- "name" : "input"
- }
- ],
- "position" : [ 4780, 1700 ],
- "size" : [ 240, 120 ],
- "uuid" : "20eb61ac-3243-41ed-b855-451cd88e4ae5"
- },
- {
- "label" : "Other",
- "name" : "TF",
- "ports" : [
- {
- "direction" : "in",
- "name" : "input"
- }
- ],
- "position" : [ 2000, 900 ],
- "size" : [ 160, 120 ],
- "uuid" : "709731e0-4ed1-4681-8f7f-7a96a622db37"
- },
- {
- "label" : "BIU",
- "name" : "MOCK: Speaker recognition",
- "ports" : [
+ "name" : "output"
+ },
{
"direction" : "in",
- "name" : "input"
+ "name" : "demographics"
},
{
"direction" : "out",
- "name" : "personID"
- }
- ],
- "position" : [ 1700, 400 ],
- "size" : [ 200, 120 ],
- "uuid" : "b70f5085-b32c-47de-b158-73fc4d83fb93"
- },
- {
- "label" : "Other",
- "name" : "DEPENDENCY: hri_msgs",
- "position" : [ 40, 2020 ],
- "size" : [ 280, 120 ],
- "sub_architecture" : "7590c224-e846-4f1c-9ecb-0a2992568089",
- "uuid" : "b5076968-861b-43cb-8bd8-35a5fefebfe4"
- },
- {
- "label" : "PAL",
- "name" : "MOCK: People 3D pose estimation [PAL]",
- "ports" : [
+ "name" : "nav goals"
+ },
{
- "direction" : "out",
- "name" : "output"
+ "direction" : "in",
+ "name" : "dialogue state"
},
{
"direction" : "in",
- "name" : "input"
+ "name" : "TF (persons)"
+ },
+ {
+ "direction" : "out",
+ "name" : "interaction state"
}
],
- "position" : [ 1060, 780 ],
- "size" : [ 260, 120 ],
- "uuid" : "9b7043cb-efee-4cbb-b1e6-e88e6d0d68bc"
+ "position" : [ 3220, 1020 ],
+ "size" : [ 400, 293 ],
+ "uuid" : "35d5af59-53e3-466c-874d-89131352c403"
},
{
"label" : "UNITN",
- "name" : "MOCK: Person re-identification",
+ "name" : "MOCK: Non-verbal behaviours",
"ports" : [
{
"direction" : "out",
- "name" : "/h/persons/<personID>/face_id"
+ "name" : "/h/f/*/expression [hri_msgs/Expression]"
},
{
- "direction" : "out",
- "name" : "/h/persons/<personID>/body_id"
+ "direction" : "in",
+ "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
},
{
"direction" : "in",
"name" : "/h/f/*/roi [hri_msgs/RegionOfInterestStamped]"
}
],
- "position" : [ 1120, 960 ],
- "size" : [ 345, 120 ],
- "uuid" : "8a4e7f8e-3ade-4e30-9f41-1bfeee90055b"
+ "position" : [ 2940, 1560 ],
+ "size" : [ 480, 180 ],
+ "uuid" : "e9861836-caed-4c19-87e2-13ba1a380613"
},
{
- "label" : "CVUT",
- "name" : "MOCK: Object detection/identification/localisation",
+ "label" : "UNITN",
+ "name" : "MOCK: F-formation",
"ports" : [
{
"direction" : "in",
- "name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
+ "name" : "tf: /person_id"
+ },
+ {
+ "direction" : "in",
+ "name" : "/h/i/gaze [hri_msgs/GazesStamped]"
},
{
"direction" : "out",
- "name" : "[TBD] /detected_objects [spring_msgs/Objects]"
+ "name" : "/h/i/groups [hri_msgs/GroupsStamped]"
}
],
- "position" : [ 680, 1760 ],
- "size" : [ 420, 120 ],
- "uuid" : "b357b248-d5a8-445d-9c09-5c567d074966"
+ "position" : [ 3960, 1780 ],
+ "size" : [ 300, 160 ],
+ "uuid" : "4a610776-d94b-4f35-9871-b835e8e0faf7"
},
{
- "label" : "INRIA",
- "name" : "MOCK: Robot non-verbal behaviours",
+ "label" : "UNITN",
+ "name" : "MOCK: Face detection",
"ports" : [
{
"direction" : "in",
- "name" : "status"
- },
- {
- "direction" : "in",
- "name" : "occupancy map"
- },
- {
- "direction" : "out",
- "name" : "low-level actions"
+ "name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
},
{
"direction" : "out",
- "name" : "status"
- },
- {
- "direction" : "in",
- "name" : "look at"
- },
- {
- "direction" : "in",
- "name" : "groups"
- },
- {
- "direction" : "in",
- "name" : "following/nav goals"
- },
- {
- "direction" : "in",
- "name" : "/h/p/personID"
+ "name" : "/h/f/*/roi [hri_msgs/RegionOfInterestStamped]"
}
],
- "position" : [ 4300, 1320 ],
- "size" : [ 380, 324 ],
- "uuid" : "328fd73c-ead7-4b87-a815-401958fa77a2"
+ "position" : [ 700, 1200 ],
+ "size" : [ 400, 120 ],
+ "uuid" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9"
},
{
"label" : "UNITN",
@@ -1034,64 +948,76 @@
"name" : "[?] output"
}
],
- "position" : [ 3360, 1060 ],
+ "position" : [ 3620, 1560 ],
"size" : [ 280, 160 ],
"uuid" : "d715b004-7177-4001-bd9d-725e87789c94"
},
{
"label" : "UNITN",
- "name" : "MOCK: Non-verbal behaviours",
+ "name" : "MOCK: User visual focus",
"ports" : [
{
"direction" : "out",
- "name" : "/h/f/*/expression [hri_msgs/Expression]"
+ "name" : "who's looking at what?"
+ },
+ {
+ "direction" : "out",
+ "name" : "/h/i/gaze [hri_msgs/GazesStamped]"
},
{
"direction" : "in",
- "name" : "voices [future]"
+ "name" : "attention"
},
{
"direction" : "in",
- "name" : "/h/f/*/roi [hri_msgs/RegionOfInterestStamped]"
+ "name" : "gaze direction"
+ },
+ {
+ "direction" : "in",
+ "name" : "depth"
+ },
+ {
+ "direction" : "in",
+ "name" : "scene"
}
],
- "position" : [ 2320, 580 ],
- "size" : [ 440, 180 ],
- "uuid" : "e9861836-caed-4c19-87e2-13ba1a380613"
+ "position" : [ 3580, 1820 ],
+ "size" : [ 340, 231 ],
+ "uuid" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5"
},
{
- "label" : "HWU",
- "name" : "MOCK: Scene understanding [internal HWU, to clarify]",
+ "label" : "UNITN",
+ "name" : "MOCK: Soft biometrics [age/gender]",
"ports" : [
{
"direction" : "out",
- "name" : "semantic description"
+ "name" : "/h/f/*/demographics [hri_msgs/AgeAndGender]"
},
{
"direction" : "in",
- "name" : "scene graph"
+ "name" : "/h/f/*/roi [hri_msgs/RegionOfInterestStamped]"
}
],
- "position" : [ 2140, 1880 ],
- "size" : [ 400, 120 ],
- "uuid" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef"
+ "position" : [ 1400, 1300 ],
+ "size" : [ 346, 120 ],
+ "uuid" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e"
},
{
"label" : "HWU",
- "name" : "MOCK: Robot utterances [passthrough]",
+ "name" : "MOCK: Scene understanding [internal HWU, to clarify]",
"ports" : [
{
"direction" : "out",
- "name" : "speech"
+ "name" : "semantic description"
},
{
"direction" : "in",
- "name" : "input"
+ "name" : "scene graph"
}
],
- "position" : [ 3700, 540 ],
- "size" : [ 300, 120 ],
- "uuid" : "c05b65cc-b421-49e5-b180-0ab31ca1ee7b"
+ "position" : [ 2240, 1860 ],
+ "size" : [ 400, 120 ],
+ "uuid" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef"
},
{
"label" : "INRIA",
@@ -1106,7 +1032,7 @@
"name" : "input"
}
],
- "position" : [ 840, 420 ],
+ "position" : [ 1500, 580 ],
"size" : [ 300, 120 ],
"uuid" : "b600af28-8f8a-4da9-89df-12b621f45244"
},
@@ -1115,172 +1041,191 @@
"name" : "MOCK: ASR",
"ports" : [
{
- "direction" : "out",
- "name" : "/h/v/voiceID/speech"
+ "direction" : "in",
+ "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
},
{
- "direction" : "in",
- "name" : "input"
+ "direction" : "out",
+ "name" : "/h/v/*/speech [std_msgs/String]"
}
],
- "position" : [ 1700, 220 ],
- "size" : [ 180, 140 ],
+ "position" : [ 1380, 180 ],
+ "size" : [ 400, 120 ],
"uuid" : "49998d33-7c64-4557-b1c9-56b241b59600"
},
{
- "label" : "HWU",
- "name" : "MOCK: Interaction manager",
+ "label" : "INRIA",
+ "name" : "MOCK: People 3D tracker [position/orientation]",
"ports" : [
{
"direction" : "in",
- "name" : "semantic scene description"
- },
- {
- "direction" : "out",
- "name" : "verbal command"
- },
- {
- "direction" : "out",
- "name" : "nav goals"
+ "name" : "ground plane"
},
{
"direction" : "in",
- "name" : "input"
+ "name" : "people RoIs"
},
{
"direction" : "in",
- "name" : "dialogue state"
+ "name" : "feet position"
},
+ {
+ "direction" : "out",
+ "name" : "tf: /body_id"
+ }
+ ],
+ "position" : [ 1900, 600 ],
+ "size" : [ 360, 180 ],
+ "uuid" : "4071a411-0acc-401d-8bbb-bb47fdc00697"
+ },
+ {
+ "label" : "CVUT",
+ "name" : "MOCK: Visual SLAM + 3D map",
+ "ports" : [
{
"direction" : "in",
- "name" : "robot state"
+ "name" : "localisation prior"
},
{
"direction" : "out",
- "name" : "active personID"
+ "name" : "dense 3d map"
},
{
- "direction" : "in",
- "name" : "/h/p/personID"
+ "direction" : "out",
+ "name" : "tf: /odom"
},
{
"direction" : "in",
- "name" : "TF"
- },
- {
- "direction" : "out",
- "name" : "gestures"
+ "name" : "/camera_head/color/image_head [sensor_msgs/Image]"
},
{
- "direction" : "out",
- "name" : "who to look at"
+ "direction" : "in",
+ "name" : "/camera_torso/color/image_torso [sensor_msgs/Image]"
}
],
- "position" : [ 3380, 1280 ],
- "size" : [ 400, 386 ],
- "uuid" : "bc526a14-c5aa-466e-ba5b-30a78b14d672"
+ "position" : [ 1000, 1920 ],
+ "size" : [ 440, 200 ],
+ "uuid" : "1e291716-8134-4fd0-8bfa-0d910d026fec"
},
{
- "label" : "INRIA",
- "name" : "MOCK: Person manager",
+ "label" : "ERM",
+ "name" : "MOCK: Robot GUI [tablet]",
"ports" : [
{
"direction" : "in",
- "name" : "TF (faces)"
- },
- {
- "direction" : "out",
- "name" : "/h/p/personID/..."
- },
- {
- "direction" : "out",
- "name" : "tf: /person_id"
+ "name" : "/tts/feedback"
},
{
"direction" : "in",
- "name" : "TF (voices)"
+ "name" : "speech output"
},
{
"direction" : "in",
- "name" : "matchers"
+ "name" : "/h/v/*/speech [std_msgs/String]"
},
{
"direction" : "in",
- "name" : "demographics"
+ "name" : "additional support material"
}
],
- "position" : [ 1780, 1020 ],
- "size" : [ 260, 276 ],
- "uuid" : "43da963c-18a8-4ad7-86f6-f361a9d25d36"
+ "position" : [ 4200, 360 ],
+ "size" : [ 400, 180 ],
+ "uuid" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d"
},
{
- "label" : "PAL",
- "name" : "MOCK: RGB-D + camera_info",
+ "label" : "BIU",
+ "name" : "MOCK: Speaker recognition",
"ports" : [
{
"direction" : "out",
- "name" : "/camera_torso/color/image_raw [sensor_msgs/Image]"
+ "name" : "person_id_candidate [hri_msgs/IdsMatch]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
}
],
- "position" : [ -140, 1200 ],
- "size" : [ 440, 120 ],
- "uuid" : "1929373a-59ae-474d-bc1b-a2d0be2417cd"
+ "position" : [ 1380, 360 ],
+ "size" : [ 400, 120 ],
+ "uuid" : "b70f5085-b32c-47de-b158-73fc4d83fb93"
},
{
- "label" : "PAL",
- "name" : "respeaker_ros",
+ "label" : "CVUT",
+ "name" : "MOCK: Semantic mapping [resources permitting]",
"ports" : [
{
"direction" : "out",
- "name" : "/audio/raw_audio [respeaker_ros/RawAudioData]"
+ "name" : "scene graph"
+ },
+ {
+ "direction" : "in",
+ "name" : "dense 3d map"
+ },
+ {
+ "direction" : "in",
+ "name" : "/detected_objects [spring_msgs/DetectedObjectArray]"
}
],
- "position" : [ 40, 140 ],
- "size" : [ 400, 120 ],
- "sub_architecture" : "b96ac6ba-08a0-4df0-8341-206c356f7c87",
- "uuid" : "3e7d7601-34c6-4975-9e36-f50968f141b2"
+ "position" : [ 1580, 1680 ],
+ "size" : [ 440, 140 ],
+ "uuid" : "dc52fa2f-b098-4f96-a830-eb329bcf282b"
},
{
- "label" : "PAL",
- "name" : "MOCK: ORB SLAM",
+ "label" : "HWU",
+ "name" : "MOCK: Interaction manager",
"ports" : [
+ {
+ "direction" : "out",
+ "name" : "who to look at"
+ },
{
"direction" : "in",
- "name" : "/camera_torso/color/image_raw [sensor_msgs/Image]"
+ "name" : "semantic scene description"
},
{
"direction" : "out",
- "name" : "tf: /odom"
+ "name" : "verbal command"
},
{
"direction" : "out",
- "name" : "/map [nav_msgs/OccupancyGrid]"
- }
- ],
- "position" : [ 140, 1500 ],
- "size" : [ 400, 140 ],
- "uuid" : "814e358a-b568-4082-99f3-4629d35e7f2e"
- },
- {
- "label" : "BIU",
- "name" : "MOCK: Speech diarization",
- "ports" : [
+ "name" : "nav goals"
+ },
+ {
+ "direction" : "in",
+ "name" : "input"
+ },
+ {
+ "direction" : "in",
+ "name" : "dialogue state"
+ },
+ {
+ "direction" : "in",
+ "name" : "robot state"
+ },
{
"direction" : "out",
- "name" : "/h/v/voiceID/audio"
+ "name" : "active personID"
},
{
"direction" : "in",
- "name" : "input"
+ "name" : "/h/p/personID"
+ },
+ {
+ "direction" : "in",
+ "name" : "TF"
+ },
+ {
+ "direction" : "out",
+ "name" : "gestures"
}
],
- "position" : [ 1300, 320 ],
- "size" : [ 220, 120 ],
- "uuid" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3"
+ "position" : [ 3200, 600 ],
+ "size" : [ 400, 386 ],
+ "uuid" : "bc526a14-c5aa-466e-ba5b-30a78b14d672"
}
],
"uuid" : "234f40f3-f9bb-4d69-8121-aec26ac8c228",
- "version" : "0.1.0"
+ "version" : "0.2.0"
}
],
"root" : "234f40f3-f9bb-4d69-8121-aec26ac8c228"