diff --git a/architecture.json b/architecture.json
index 5cfc049e851badcce58c785007e6668b96dceaec..0d78d0cb1468dbd92286a1d254201b9b84fa75f3 100644
--- a/architecture.json
+++ b/architecture.json
@@ -1,65 +1,71 @@
{
"architectures" : [
{
- "description" : "BRIEF:Non-verbal behaviour generation\n ",
- "name" : "MOCK: Non-verbal behaviours",
- "uuid" : "4beabc83-79c9-482d-8b56-d7f36ed58492",
- "version" : "0.0.1"
+ "description" : "Docker not yet published\n\nBRIEF:Global localization, service-based\nREPO:git@gitlab.inria.fr:spring/wp2_mapping_localization/hloc-mapping-localization.git",
+ "name" : "HLoc-ROS",
+ "uuid" : "11554e14-1e5a-41d0-8604-9f0a4365849b",
+ "version" : "main"
},
{
- "description" : "BRIEF:Monocular gaze estimation on planar image\nThis 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.\nREPO:https://gitlab.inria.fr/spring/wp4_behavior/gaze-estimation",
- "name" : "gaze_estimation",
- "uuid" : "2acb3f97-e06f-4e94-a48f-a3e140ad55fb",
- "version" : "devel"
+ "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",
+ "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" : "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",
+ "uuid" : "f15ca40a-1ed5-416f-8467-d1551bf43797",
+ "version" : "main"
+ },
+ {
+ "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" : "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" : "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" : "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: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" : " ",
- "name" : "MOCK: Semantic mapping [resources permitting]",
- "uuid" : "ae522dbc-8d69-4a19-92c1-051b44b98214",
+ "description" : "BRIEF: RGB head camera driver",
+ "name" : "raspicam",
+ "uuid" : "cf447604-0976-4fc3-ad4e-a135fa8ba454",
"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",
+ "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:Speaker identification based on voice embeddings\n ",
- "name" : "speakers_id",
- "uuid" : "77ebd1d1-7f1e-47b7-8a26-4328c95c817a",
- "version" : "0.0.1"
+ "description" : "BRIEF:Speech pre-processing (incl. end of speech detection) \nREPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git\nSUBFOLDER:dialogue_speech",
+ "name" : "dialogue_speech",
+ "uuid" : "257fcacc-ff35-430b-b11f-efd376c496ce",
+ "version" : "master"
},
{
- "description" : "BRIEF:2D skeleton estimator\nThis 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",
- "uuid" : "f15ca40a-1ed5-416f-8467-d1551bf43797",
+ "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"
},
- {
- "description" : " ",
- "name" : "MOCK: Robot GUI [tablet]",
- "uuid" : "8a919bc7-c80b-4325-ac63-d04f2fc1d6bb",
- "version" : "0.0.1"
- },
{
"description" : "BRIEF:Robot action server ('look at person' action)\n ",
"name" : "look_at_position_action_server",
@@ -67,63 +73,75 @@
"version" : "0.0.1"
},
{
- "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:None\n ",
+ "name" : "look_at_person_server",
+ "uuid" : "28912232-55a1-48ad-bb37-c99b7f1ad079",
+ "version" : "0.0.1"
},
{
- "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" : "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:Social scene understanding\n ",
- "name" : "social_state_analyzer",
- "uuid" : "4f0b2a37-97ff-46ee-aff2-77001218ba31",
+ "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" : "voice embedding + speaker separation together\n\nETA: ~autumn 2023",
+ "name" : "MOCK: speaker_extraction",
+ "uuid" : "9a662d15-0e9a-4d34-bf73-ab087206578f",
"version" : "0.0.1"
},
{
- "description" : "BRIEF:Laser-based 3D people pose estimation\nREPO:https://gitlab.inria.fr/spring/wp3_av_perception/body_3d_tracker",
- "name" : "body_3d_tracker",
- "uuid" : "f6ab2c5c-5c73-439c-9342-fb1bbb24b1da",
- "version" : "main"
+ "description" : "BRIEF:ALANA chatbot\n ",
+ "name" : "alana_node",
+ "uuid" : "f8c8f093-a1b2-4115-8526-089374b7c119",
+ "version" : "0.0.1"
},
{
- "description" : "BRIEF:None\n ",
- "name" : "look_at_person_server",
- "uuid" : "28912232-55a1-48ad-bb37-c99b7f1ad079",
+ "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" : "BRIEF:Monocular attention estimation on planar image\n ",
+ "name" : "MOCK: User attention estimation",
+ "uuid" : "408a78e5-e496-4642-8c61-dec0124e5095",
"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",
+ "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:ORB SLAM for robot localisation and mapping\n ",
- "name" : "ORB SLAM",
- "uuid" : "ee613ec0-3cc8-4dce-a3da-57091d431efe",
+ "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:Speech pre-processing (incl. end of speech detection)\n ",
- "name" : "dialogue_speech",
- "uuid" : "257fcacc-ff35-430b-b11f-efd376c496ce",
+ "description" : "BRIEF: frontal fisheye camera driver",
+ "name" : "fisheye",
+ "uuid" : "9acdd8b9-4805-4239-aec0-8db4d0977e64",
"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: proxy to robot's TTS action server for ERM convenience",
+ "name" : "dialogue_say",
+ "uuid" : "c854e5a0-2dbe-4eee-a79b-723d08083339",
+ "version" : "main"
},
{
- "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" : "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"
},
{
@@ -133,94 +151,106 @@
"version" : "0.0.1"
},
{
- "description" : "BRIEF:None\nREPO:git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git\nSUBFOLDER:wp4_msgs\nNOT EXECUTABLE",
- "name" : "DEPENDENCY: wp4_msgs",
- "uuid" : "af8592a3-f2de-4843-b29d-8868afac79be",
+ "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" : "BRIEF:Monocular attention estimation on planar image\n ",
- "name" : "MOCK: User attention estimation",
- "uuid" : "408a78e5-e496-4642-8c61-dec0124e5095",
- "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: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" : "Web server for the experimenter tablet\n\nREPO:git@gitlab.inria.fr:spring/wp1_user_application/exp-gui.git",
+ "name" : "exp_gui",
+ "uuid" : "68debd5e-9e7a-486c-a58e-d553009e0cb3",
+ "version" : "main"
},
{
- "description" : "BRIEF:Audio pre-processing (incl. noise cancellation)\nThis node performs:\n- speech echo cancelation,\n- single microphone audio enhancement,\nREPO:https://gitlab.inria.fr/spring/wp3_av_perception/speech-enhancement \nSUBFOLDER:audio_processing ",
- "name" : "audio_processing",
- "uuid" : "703291ee-d2c9-4f3c-a94c-fb6030dd783e",
- "version" : "BIU_dev"
+ "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: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",
+ "description" : "REPO: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: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:ROS wrapper for the InLoc server\n ",
- "name" : "MOCK: InLoc-ROS",
- "uuid" : "2bad5ef3-b107-4535-b48b-20195aae9d9e",
- "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" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git\nSUBFOLDER:dialogue_arbiter",
- "name" : "dialogue arbiter",
- "uuid" : "e2ee44b3-4f04-4a27-a947-525fae05035d",
- "version" : "spring_dev"
+ "description" : "BRIEF:Robot action server (body approach)\n ",
+ "name" : "go_to_body_action_server",
+ "uuid" : "afd60208-b9e3-47d6-91db-ff98641995c4",
+ "version" : "0.0.1"
},
{
- "description" : "BRIEF:Robot action server (person approach)\n ",
- "name" : "go_to_person_action_server",
- "uuid" : "8877ac09-dcf3-4f4b-9462-d7948759a3a3",
+ "description" : "BRIEF:High-level interaction supervisor\n ",
+ "name" : "social_strategy_supervisor",
+ "uuid" : "02a6c7d9-b0e8-4b4c-a838-56a4990ca96c",
"version" : "0.0.1"
},
{
- "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:Robot action server (navigation to location)\n ",
+ "name" : "go_to_position_action_server",
+ "uuid" : "cc6bb1c2-c450-4e00-b0d8-b0f0d2048e04",
+ "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",
+ "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: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:Activity recognition\n ",
+ "name" : "MOCK: Activity reco",
+ "uuid" : "96cd31ae-5485-40db-8b27-b5a09888f810",
+ "version" : "0.0.1"
},
{
- "description" : "BRIEF:ROS wrapper for Google-based translation\n ",
- "name" : "google_translate",
- "uuid" : "d0fddd1e-f657-40a0-a891-c8afbb1f7868",
+ "description" : "BRIEF: Frontal RGB-D camera driver",
+ "name" : "torso_rgbd_camera",
+ "uuid" : "0ccd4f8f-abe0-4eae-9d35-d6af509364eb",
"version" : "0.0.1"
},
{
- "description" : "BRIEF:Indoor localisation server\n ",
- "name" : "DEPENDENCY: InLoc Server",
- "uuid" : "6858249f-9e01-4ab4-bf37-0703767a5250",
+ "description" : "slam_rtabmap is...",
+ "name" : "slam_rtabmap",
+ "uuid" : "046d668f-a787-4753-ab2f-c2b04f922ad0",
"version" : "0.0.1"
},
{
- "description" : "BRIEF:Object detection/identification/localisation\n ",
- "name" : "MOCK: Object detection/identification/localisation",
- "uuid" : "cc914ac9-9aa0-4b00-8328-f9378e229ae9",
- "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: RGB head camera driver",
- "name" : "raspicam",
- "uuid" : "cf447604-0976-4fc3-ad4e-a135fa8ba454",
- "version" : "0.0.1"
+ "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",
+ "version" : "spring_dev"
},
{
"description" : "BRIEF:Estimation of user gaze focus\n ",
@@ -235,46 +265,40 @@
"version" : "0.2.2"
},
{
- "description" : "BRIEF: Frontal RGB-D camera driver",
- "name" : "torso_rgbd_camera",
- "uuid" : "0ccd4f8f-abe0-4eae-9d35-d6af509364eb",
+ "description" : "BRIEF:Non-verbal behaviour generation\n ",
+ "name" : "MOCK: Non-verbal behaviours",
+ "uuid" : "4beabc83-79c9-482d-8b56-d7f36ed58492",
"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: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:Microphone array driver\nREPO: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" : "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:Activity recognition\n ",
- "name" : "MOCK: Activity reco",
- "uuid" : "96cd31ae-5485-40db-8b27-b5a09888f810",
- "version" : "0.0.1"
- },
- {
- "description" : "BRIEF:Robot action server (generic 'look at' action)\n ",
- "name" : "look_at_action_server",
- "uuid" : "a5174b81-fea1-4d89-bfe5-7c909fcb134f",
- "version" : "0.0.1"
+ "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",
+ "version" : "spring_dev"
},
{
- "description" : "BRIEF:Robot action server (group approach)\n ",
- "name" : "go_to_group_action_server",
- "uuid" : "90d17edc-f200-49f6-adad-5100466d6703",
+ "description" : "BRIEF:Social scene understanding\n ",
+ "name" : "social_state_analyzer",
+ "uuid" : "4f0b2a37-97ff-46ee-aff2-77001218ba31",
"version" : "0.0.1"
},
{
- "description" : "BRIEF: text-to-speech server",
- "name" : "dialogue_say",
- "uuid" : "c854e5a0-2dbe-4eee-a79b-723d08083339",
- "version" : "0.0.1"
+ "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:None\nREPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/asr.git\nSUBFOLDER:audio_msgs\nNOT EXECUTABLE",
@@ -283,34 +307,34 @@
"version" : "spring_dev"
},
{
- "description" : "BRIEF:Sound source separation and localisation\n ",
- "name" : "source separation + localisation",
- "uuid" : "37223016-2101-4a72-a9d4-e04119d5bb88",
- "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: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: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" : "BRIEF:Monocular depth estimation\nREPO:https://gitlab.inria.fr/spring/wp4_behavior/depth-estimation",
- "name" : "depth_estimation",
- "uuid" : "bc0aa7fa-7aef-44a0-8cd1-48e4a3e87e7b",
+ "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",
"version" : "main"
},
{
- "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:Robot action server (generic 'look at' action)\n ",
+ "name" : "look_at_action_server",
+ "uuid" : "a5174b81-fea1-4d89-bfe5-7c909fcb134f",
+ "version" : "0.0.1"
},
{
- "description" : "BRIEF: frontal fisheye camera driver",
- "name" : "fisheye",
- "uuid" : "9acdd8b9-4805-4239-aec0-8db4d0977e64",
- "version" : "0.0.1"
+ "description" : "BRIEF:None\nREPO:git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git\nSUBFOLDER:wp4_msgs\nNOT EXECUTABLE",
+ "name" : "DEPENDENCY: wp4_msgs",
+ "uuid" : "af8592a3-f2de-4843-b29d-8868afac79be",
+ "version" : "master"
},
{
"description" : "BRIEF:None\nREPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git\nSUBFOLDER:robot_behaviour_msgs\nNOT EXECUTABLE",
@@ -319,318 +343,294 @@
"version" : "spring_dev"
},
{
- "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: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" : "BRIEF:Semantic scene and social interaction description\nREPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git\nSUBFOLDER:social_scene_context_understanding",
- "name" : "social_scene_context_understanding",
- "uuid" : "05421051-4c03-42de-8bbb-0d0965e14f68",
- "version" : "spring_dev"
- },
- {
- "description" : "BRIEF:Robot action server (body approach)\n ",
- "name" : "go_to_body_action_server",
- "uuid" : "afd60208-b9e3-47d6-91db-ff98641995c4",
- "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",
+ "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"
},
{
"connections" : [
{
- "from" : "1e291716-8134-4fd0-8bfa-0d910d026fec:dense 3d map",
+ "from" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/*_basestation/fisheye/... [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:dense 3d map",
- "uuid" : "42b5f41f-7a83-4ed2-88c5-c23ed58b6742"
+ "to" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/front_camera_basetation/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]",
+ "uuid" : "21d49c6c-a6a8-49d5-9ab6-b166e461e189"
},
{
- "from" : "c9b76975-8236-4440-8693-6756fef3990b:/humans/bodies/tracked [hri_msgs/IdsList]",
+ "from" : "910781c7-928f-4445-a97b-6fbad208066f:pointcloud",
"name" : "anonymous",
- "to" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/humans/bodies/tracked [hri_msgs/IdsList]",
- "uuid" : "02c0b533-92ac-4444-9bc3-2f68adfd7e03"
+ "to" : "3cf6f1fb-04b3-43fa-b320-b1eb1f81505f:torso pointcloud",
+ "uuid" : "8d8132f3-0479-4741-b0f8-6ad7a71c04dc"
},
{
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:DialogueState",
+ "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/ego_audio [audio_common_msgs/AudioData]",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:dialogue state",
- "uuid" : "edb67b60-5748-4e4f-bc1c-66f386b4a870"
+ "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/audio/ego_audio [audio_common_msgs/AudioData]",
+ "uuid" : "6ee617f3-66ef-447b-93b0-f328fe29ea79"
},
{
- "from" : "ed36231e-fb0f-45d5-8770-6f8c613f8ca4:look_at goals",
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:/updates",
"name" : "anonymous",
- "to" : "4d1289b0-8d15-4c6c-ba82-f4fb9c3f4f17:goal",
- "uuid" : "bc573df5-f3d4-488c-9905-06d6704e401d"
+ "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_arbitrer/update [service]",
+ "uuid" : "95706697-e67a-49c7-8da6-e8a11df6234a"
},
{
- "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/tracked [hri_msgs/IdsList]",
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:/queries",
"name" : "anonymous",
- "to" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:/humans/persons/tracked",
- "uuid" : "ad7dd3e2-3743-4761-a1f7-2cbf3783df83"
+ "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_arbitrer/query [service]",
+ "uuid" : "06375299-1ca4-45db-9866-d73f5a7dda00"
},
{
- "from" : "49998d33-7c64-4557-b1c9-56b241b59600:/h/v/*/speech [hri_msgs/LiveSpeech]",
+ "from" : "c9b76975-8236-4440-8693-6756fef3990b:/humans/bodies/tracked [hri_msgs/IdsList]",
"name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/h/v/*/speech [hri_msgs/LiveSpeech]",
- "uuid" : "db3221a7-783a-4ffb-9ca2-8d074e9706fd"
+ "to" : "172516ca-a279-42a7-b515-ba2257887296:/humans/bodies/tracked",
+ "uuid" : "806927e3-3932-4ade-a7ac-66aae1d77361"
},
{
- "from" : "910781c7-928f-4445-a97b-6fbad208066f:/torso_front_camera/color/image_raw [sensor_msgs/Image]",
+ "from" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3:/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]",
"name" : "anonymous",
- "to" : "814e358a-b568-4082-99f3-4629d35e7f2e:/camera_torso/color/image_raw [sensor_msgs/Image]",
- "uuid" : "7610a665-f754-44dc-ac1c-dad1d724143d"
+ "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]",
+ "uuid" : "3993c0e8-3e0f-4ad5-9663-78ed7f0fbd4a"
},
{
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:next utterance",
+ "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
"name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:speech output",
- "uuid" : "426656f1-0bfe-4b24-b55c-f1fbe35d0f24"
+ "to" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
+ "uuid" : "123fb873-eb2b-4fd6-a69a-029ee1f017b5"
},
{
- "from" : "910781c7-928f-4445-a97b-6fbad208066f:/torso_front_camera/color/image_raw [sensor_msgs/Image]",
+ "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/tracked [hri_msgs/IdsList]",
"name" : "anonymous",
- "to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/torso_front_camera/aligned_depth_to_color/image_raw/theora",
- "uuid" : "25aa5561-a18f-4039-90e5-8083440cbfca"
+ "to" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:/humans/persons/tracked",
+ "uuid" : "ad7dd3e2-3743-4761-a1f7-2cbf3783df83"
},
{
- "from" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:scene graph",
+ "from" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a:/humans/faces/tracked [hri_msgs/IdsList]",
"name" : "anonymous",
- "to" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:scene graph",
- "uuid" : "b10cbc39-5513-44e6-81ef-1c010a9c940b"
+ "to" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/humans/faces/tracked [hri_msgs/IdsList]",
+ "uuid" : "05992d5f-20a5-404d-9cd0-b79668da432d"
},
{
- "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/*/audio [audio_common_msgs/AudioData]",
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
"name" : "anonymous",
- "to" : "49998d33-7c64-4557-b1c9-56b241b59600:/h/v/*/audio [audio_common_msgs/AudioData]",
- "uuid" : "69f97c03-347d-465f-9b4e-414ab5dda4c9"
+ "to" : "2fb3e19c-7562-4c43-bd74-c043a5efec7c:/controller_status [ControllerStatus]",
+ "uuid" : "bfa3a196-7137-43ea-bc20-a2715f466c68"
},
{
- "from" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:x,y + attention heatmap",
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/dialogue_start",
"name" : "anonymous",
- "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:attention",
- "uuid" : "c38977a5-ea01-41e3-b161-164b84e18fa8"
+ "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_start [action server]",
+ "uuid" : "798ca552-de5a-4555-ba41-5fe45c00dd56"
},
{
- "from" : "aa83a592-d631-44a2-bbaa-f812b8669bc7:/h/g/tracked [hri_msgs/IdList]",
+ "from" : "f845ee2c-4cb3-4cae-bde9-8ac2ba692ee7:/dialogue_nlp/nlu [JSON String]",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/h/g/tracked",
- "uuid" : "a3ffd70f-2c63-4e9c-8a54-b7256faf5f00"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/dialogue_nlp/nlu [JSON String]",
+ "uuid" : "b580306a-877f-45cd-883c-caafbac903b0"
},
{
- "from" : "910781c7-928f-4445-a97b-6fbad208066f:torso_front_camera/infra*/*",
+ "from" : "2fb3e19c-7562-4c43-bd74-c043a5efec7c:/go_towards [GoTowards]",
"name" : "anonymous",
- "to" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:torso_front_camera/infra*/*",
- "uuid" : "035790a0-fdfb-4366-9e5a-b554595434a1"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/go_towards [GoTowards]",
+ "uuid" : "c609a59e-f951-488b-828f-91bb2326594c"
},
{
- "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/nav_vel [Twist]",
+ "from" : "b2cf0310-792d-4753-9e3d-243de1c81bbe:/go_towards [GoTowards]",
"name" : "anonymous",
- "to" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:input",
- "uuid" : "76376fcb-a31a-40db-9220-1fef7cf68fc8"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/go_towards [GoTowards]",
+ "uuid" : "9662dbe9-6e01-4ec3-a983-80cb2e37efb8"
},
{
- "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/...",
+ "from" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/*_basestation/fisheye/... [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "8dc55dfc-0215-44a1-9795-9255c328b198:/h/p/...",
- "uuid" : "25df8089-5bc4-4a4c-9e3a-44a008a58247"
+ "to" : "9f0e4a90-79fb-4f15-b769-f539dd6ccc71:/front_camera/fisheye/image_raw [sensor_msgs/Image]",
+ "uuid" : "2a20f007-fa04-4242-85ee-a17b4805b502"
},
{
- "from" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a:/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
+ "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/tracked [hri_msgs/IdsList]",
"name" : "anonymous",
- "to" : "4fbd8427-4d9f-4087-9a30-e7df1c1f69e7:/h/f/*/roi [sensor_msgs/RegionOfInterest]",
- "uuid" : "54f09cbb-7a2f-45cc-952d-b0e950066641"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/h/p/*/softbiometrics [hri_msgs/Softbiometrics]",
+ "uuid" : "9c3a70db-3bc2-46bb-9af3-2402bf296ceb"
},
{
- "from" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3:/dialogue_speech",
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
"name" : "anonymous",
- "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_speech",
- "uuid" : "33ce6701-eba9-4c01-aa2b-d0c7377a9a22"
+ "to" : "4d1289b0-8d15-4c6c-ba82-f4fb9c3f4f17:/controller_status [ControllerStatus]",
+ "uuid" : "76e0492e-f642-4ebf-af53-3f86b5c457bb"
},
{
- "from" : "49998d33-7c64-4557-b1c9-56b241b59600:/h/v/*/speech [hri_msgs/LiveSpeech]",
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
"name" : "anonymous",
- "to" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3:/h/v/*/speech [hri_msgs/LiveSpeech]",
- "uuid" : "a934598a-0e35-42c6-bae8-7bf2a38205a1"
+ "to" : "c0155b17-15f4-4d86-909b-433fe737cb5f:/controller_status [ControllerStatus]",
+ "uuid" : "052e4cf3-0e82-4343-8e21-2ac86cd203c6"
},
{
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- "uuid" : "9a6166cd-6b2f-4cdd-a470-c8caaf29a66d"
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},
{
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},
{
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- "uuid" : "d6cf1b6f-dfca-424f-bd89-349cc8c1804b"
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},
{
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"name" : "anonymous",
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},
{
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"name" : "anonymous",
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- "uuid" : "0607f6c5-e3fd-4b79-9efb-eda2576505dd"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/navigate [Navigate]",
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},
{
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"name" : "anonymous",
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- "uuid" : "05601663-b9e7-40f8-8a33-c8d6b235a604"
+ "to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/torso_front_camera/aligned_depth_to_color/image_raw/theora",
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},
{
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"name" : "anonymous",
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- "uuid" : "d6fc7848-5449-4fad-93e1-cbf2e8677750"
+ "to" : "172516ca-a279-42a7-b515-ba2257887296:tf: /body_*",
+ "uuid" : "54c50500-4375-42ea-8633-ff35dfd2ea48"
},
{
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+ "from" : "57c4f67f-9225-4bdc-9142-f9e92c2cada8:ROS service: pose + covariance",
"name" : "anonymous",
- "to" : "ed36231e-fb0f-45d5-8770-6f8c613f8ca4:plan",
- "uuid" : "217bc92d-b743-4bb0-bc77-c3fb57c8c2e2"
+ "to" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:[call HLoc to perform global localization]",
+ "uuid" : "580f1af2-ca26-4839-9c78-54ade7c3d508"
},
{
- "from" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:output?",
+ "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/raw_audio [audio_common_msgs/AudioData]",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:input",
- "uuid" : "c6e06c4e-d9bb-44ca-927d-05258e028480"
+ "to" : "63835655-4d0a-4d5a-9849-365826ee7738:/audio/raw_audio [audio_common_msgs/AudioData]",
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},
{
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"name" : "anonymous",
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- "uuid" : "1831088f-50a4-402b-b940-ecdd59a82868"
+ "to" : "49998d33-7c64-4557-b1c9-56b241b59600:/h/v/tracked [hri_msgs/IdsList]",
+ "uuid" : "9c2706ae-a494-4a78-a944-834fe7c4d97f"
},
{
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+ "from" : "63835655-4d0a-4d5a-9849-365826ee7738:/audio/speaker1/stream [audio_common_msgs/AudioData]",
"name" : "anonymous",
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- "uuid" : "2889467a-5168-42f3-9e4c-d92270d158db"
+ "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/humans/voices/speaker1/stream [audio_common_msgs/AudioData]",
+ "uuid" : "329ebd1d-4bf3-4f85-b925-c745d6666a23"
},
{
- "from" : "e9861836-caed-4c19-87e2-13ba1a380613:/h/f/*/expression [hri_msgs/Expression]",
+ "from" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44:/slam/local_map [OccupancyGrid]",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/h/p/*/softbiometrics [hri_msgs/Softbiometrics]",
- "uuid" : "5dc5fa89-bcb0-457c-b062-01f7a8523c3b"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/slam/local_map [OccupancyGrid]",
+ "uuid" : "56df27e4-afb2-47fa-94cc-39d91d888790"
},
{
- "from" : "b1c71045-3970-4124-90e6-161884892755:/audio/stream* [audio_common_msgs/AudioData]",
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:/queries",
"name" : "anonymous",
- "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/audio/stream* [audio_common_msgs/AudioData]",
- "uuid" : "f2cf3756-c3ae-4e27-95d4-d45608d3650e"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/interaction_manager/query [service]",
+ "uuid" : "5f958a4f-4e9b-4339-9a4b-bc4184294be4"
},
{
- "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/ego_audio [audio_common_msgs/AudioData]",
+ "from" : "aa83a592-d631-44a2-bbaa-f812b8669bc7:/h/g/tracked [hri_msgs/IdList]",
"name" : "anonymous",
- "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/audio/ego_audio [audio_common_msgs/AudioData]",
- "uuid" : "6ee617f3-66ef-447b-93b0-f328fe29ea79"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/h/g/tracked",
+ "uuid" : "a3ffd70f-2c63-4e9c-8a54-b7256faf5f00"
},
{
- "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/head_front_camera/color/image_raw [sensor_msgs/Image]",
+ "from" : "409d9526-77ed-4ee3-bae9-ab48381e0b28:/torso_front_camera/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "633be9cd-9f1b-4cdd-b708-a1edd3742842:/head_front_camera/color/image_raw/compressed [sensor_msgs/CompressedImage]",
- "uuid" : "3468cd8a-4c44-424a-977e-3d431e2f62bd"
+ "to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/front_camera/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]",
+ "uuid" : "f1c595fc-8ada-4453-a680-6ed6bb448ffa"
},
{
- "from" : "b1c71045-3970-4124-90e6-161884892755:/audio/doa* [std_msgs/Float32]",
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
"name" : "anonymous",
- "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/audio/doa* [std_msgs/Float32]",
- "uuid" : "f73f85c7-f7cc-45c7-8032-517b720bb9c8"
+ "to" : "b2cf0310-792d-4753-9e3d-243de1c81bbe:/controller_status [ControllerStatus]",
+ "uuid" : "68350299-f55a-46af-af4b-03e6415f2237"
},
{
- "from" : "910781c7-928f-4445-a97b-6fbad208066f:/torso_front_camera/imu",
+ "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/*/audio [audio_common_msgs/AudioData]",
"name" : "anonymous",
- "to" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:/torso_front_camera/imu",
- "uuid" : "0e8dee5d-ac4f-4d31-95cc-1ddd8fa9e8b0"
+ "to" : "3ff4bbe5-0031-4fd1-af28-cd7bd92c0981:/h/v/*/audio [audio_common_msgs/AudioData]",
+ "uuid" : "ccad50ef-3df0-49e8-a543-ab6d00fe87fd"
},
{
- "from" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:semantic description",
+ "from" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:/slam/occupancy_map [OccupancyGrid]",
"name" : "anonymous",
- "to" : "35d5af59-53e3-466c-874d-89131352c403:semantic scene description",
- "uuid" : "c8b7ebbb-8ba7-4c32-9b99-76a5806b9e3b"
+ "to" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44:/slam/occupancy_map [OccupancyGrid]",
+ "uuid" : "1bed6e12-acfb-4ff4-a7f8-559ad7df5b2a"
},
{
- "from" : "910781c7-928f-4445-a97b-6fbad208066f:/torso_front_camera/color/image_raw [sensor_msgs/Image]",
+ "from" : "49998d33-7c64-4557-b1c9-56b241b59600:/h/v/*/speech [hri_msgs/LiveSpeech]",
"name" : "anonymous",
- "to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/torso_front_camera/color/image_raw/theora",
- "uuid" : "41b7678b-dcf8-429b-a17d-ffbe2f916995"
+ "to" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3:/h/v/*/speech [hri_msgs/LiveSpeech]",
+ "uuid" : "a934598a-0e35-42c6-bae8-7bf2a38205a1"
},
{
- "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/tracked [hri_msgs/IdsList]",
+ "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:tf: /voice_*",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/h/p/*/softbiometrics [hri_msgs/Softbiometrics]",
- "uuid" : "9c3a70db-3bc2-46bb-9af3-2402bf296ceb"
+ "to" : "172516ca-a279-42a7-b515-ba2257887296:tf: /voice_*",
+ "uuid" : "57f369c0-8b58-4ae7-a8dd-0d07c55017c0"
},
{
- "from" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/humans/candidate_matches [hri_msgs/IdsMatch] [face reco]",
+ "from" : "633be9cd-9f1b-4cdd-b708-a1edd3742842:/depth_estimation [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/humans/candidate_matches [hri_msgs/IdsMatch]",
- "uuid" : "eb962d9e-e647-488b-8b25-566fcf956758"
+ "to" : "4fbd8427-4d9f-4087-9a30-e7df1c1f69e7:/depth_estimation [sensor_msgs/Image]",
+ "uuid" : "4467cb9d-d3fe-465e-a25a-d1fbd0ccd936"
},
{
- "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/audio/enh_audio [spring_msgs/RawAudioData]",
+ "from" : "63835655-4d0a-4d5a-9849-365826ee7738:/audio/speaker1/doa [std_msgs/Float32]",
"name" : "anonymous",
- "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/audio/enh_audio [spring_msgs/RawAudioData]",
- "uuid" : "97df08a2-914e-4b3e-9d5f-c459f6b3d731"
+ "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/humans/voices/speaker1/doa [std_msgs/Float32]",
+ "uuid" : "2add0296-8bab-46b0-9763-4debfef27287"
},
{
- "from" : "a1d01235-a287-4e67-900b-d0e446924e2a:output?",
+ "from" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/*_basestation/fisheye/... [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:input",
- "uuid" : "e0c6d3fc-5ee7-4ca7-a0a9-cf3ace272ace"
+ "to" : "c9b76975-8236-4440-8693-6756fef3990b:/front_camera/fisheye/image_raw [sensor_msgs/Image]",
+ "uuid" : "d6fc7848-5449-4fad-93e1-cbf2e8677750"
},
{
- "from" : "1e291716-8134-4fd0-8bfa-0d910d026fec:dense 3d map",
+ "from" : "8dc55dfc-0215-44a1-9795-9255c328b198:/kb/add_fact [std_msgs/String]",
"name" : "anonymous",
- "to" : "b62de7f5-7899-48fd-a64d-3226e68bb21f:dense 3d map",
- "uuid" : "24a4329e-5669-4cd5-bc57-08fbb0c1f859"
+ "to" : "5a0113b6-a999-4339-8e21-44f3b8b3d693:/kb/add_fact [std_msgs/String]",
+ "uuid" : "32a45d48-e0c9-4be6-b445-585a3dc2874e"
},
{
- "from" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:/joint_states",
+ "from" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:tf: /face_id_gaze",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/joint_states",
- "uuid" : "cb850e08-5d3d-4203-8d02-68bfc617e623"
+ "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:gaze direction",
+ "uuid" : "0de8cacd-26a8-4d65-b9d1-266658e3c74c"
},
{
- "from" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:/slam/occupancy_map [OccupancyGrid]",
+ "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/head_front_camera/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/rtabmap/proj_map [OccupancyGrid]",
- "uuid" : "7dd2251d-b5ee-4de7-9a0c-ae4af149c5fe"
+ "to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/head_front_camera/color/image_raw/compressed",
+ "uuid" : "1fb9d2e7-103a-4355-b2a9-dc3debc7be30"
},
{
- "from" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/*_basestation/fisheye/... [sensor_msgs/Image]",
+ "from" : "bf22a99b-3b6f-416c-b967-8b4df877a72e:/go_towards [GoTowards]",
"name" : "anonymous",
- "to" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/front_camera_basetation/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]",
- "uuid" : "21d49c6c-a6a8-49d5-9ab6-b166e461e189"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/go_towards [GoTowards]",
+ "uuid" : "425790fa-4175-499d-9784-642548e93757"
+ },
+ {
+ "from" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a:/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
+ "name" : "anonymous",
+ "to" : "4fbd8427-4d9f-4087-9a30-e7df1c1f69e7:/h/f/*/roi [sensor_msgs/RegionOfInterest]",
+ "uuid" : "54f09cbb-7a2f-45cc-952d-b0e950066641"
},
{
"from" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a:/humans/faces/tracked [hri_msgs/IdsList]",
@@ -639,142 +639,184 @@
"uuid" : "261be2c2-b322-4375-a323-58eef6c3b84d"
},
{
- "from" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:scene graph",
+ "from" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/humans/candidate_matches [hri_msgs/IdsMatch] [face reco]",
"name" : "anonymous",
- "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:scene",
- "uuid" : "2c302ab0-19f5-4939-9345-4122d8e060be"
+ "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/humans/candidate_matches [hri_msgs/IdsMatch]",
+ "uuid" : "eb962d9e-e647-488b-8b25-566fcf956758"
},
{
- "from" : "9a5658f1-943d-4889-8e2a-0735ee5de159:/look_at [LookAt]",
+ "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/...",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/look_at [LookAt]",
- "uuid" : "90b73e40-c764-46c4-ac32-abcedc29a818"
+ "to" : "8dc55dfc-0215-44a1-9795-9255c328b198:/h/p/...",
+ "uuid" : "25df8089-5bc4-4a4c-9e3a-44a008a58247"
},
{
- "from" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a:/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
"name" : "anonymous",
- "to" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
- "uuid" : "dd7b1c17-95d6-4d76-b3b3-3ca0052b3f59"
+ "to" : "bf22a99b-3b6f-416c-b967-8b4df877a72e:/controller_status [ControllerStatus]",
+ "uuid" : "7b7abfe6-e4a2-4579-bc08-12e63f53f8f4"
},
{
- "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/audio/enh_audio [spring_msgs/RawAudioData]",
+ "from" : "c0155b17-15f4-4d86-909b-433fe737cb5f:/go_towards [GoTowards]",
"name" : "anonymous",
- "to" : "b1c71045-3970-4124-90e6-161884892755:/audio/enh_audio [spring_msgs/RawAudioData]",
- "uuid" : "d1320e48-edd3-4ad4-ac92-c49dcd8850b9"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/go_towards [GoTowards]",
+ "uuid" : "45074b98-4c72-41a3-b153-6dde57d35782"
},
{
- "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/...",
+ "from" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:/joint_states",
"name" : "anonymous",
- "to" : "aa83a592-d631-44a2-bbaa-f812b8669bc7:/h/p/tracked",
- "uuid" : "c69f156e-9bd8-465d-8ab3-8dda7007ee45"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/joint_states",
+ "uuid" : "cb850e08-5d3d-4203-8d02-68bfc617e623"
},
{
- "from" : "8dc55dfc-0215-44a1-9795-9255c328b198:/kb/add_fact [std_msgs/String]",
+ "from" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:/slam/occupancy_map [OccupancyGrid]",
"name" : "anonymous",
- "to" : "5a0113b6-a999-4339-8e21-44f3b8b3d693:/kb/add_fact [std_msgs/String]",
- "uuid" : "32a45d48-e0c9-4be6-b445-585a3dc2874e"
+ "to" : "b357b248-d5a8-445d-9c09-5c567d074966:/slam/occupancy_map [OccupancyGrid]",
+ "uuid" : "ec99c998-7fd1-4c29-89c1-4b8fa7e50d02"
},
{
- "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/tracked [hri_msgs/IdsList]",
+ "from" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:x,y + attention heatmap",
"name" : "anonymous",
- "to" : "49998d33-7c64-4557-b1c9-56b241b59600:/h/v/tracked [hri_msgs/IdsList]",
- "uuid" : "9c2706ae-a494-4a78-a944-834fe7c4d97f"
+ "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:attention",
+ "uuid" : "c38977a5-ea01-41e3-b161-164b84e18fa8"
},
{
- "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/humans/candidate_matches [hri_msgs/IdsMatch]",
+ "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/head_front_camera/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/humans/candidate_matches [hri_msgs/IdsMatch]",
- "uuid" : "461be578-4d76-48ae-8c34-7b93b34a43c7"
+ "to" : "633be9cd-9f1b-4cdd-b708-a1edd3742842:/head_front_camera/color/image_raw/compressed [sensor_msgs/CompressedImage]",
+ "uuid" : "3468cd8a-4c44-424a-977e-3d431e2f62bd"
},
{
- "from" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6:/navigate [Navigate]",
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/navigate [Navigate]",
- "uuid" : "f079a4f9-9fbb-44bc-8f51-24e96f94d674"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/controller_status [ControllerStatus]",
+ "uuid" : "34a8a7dd-e143-45c5-bbcd-c0176684ad6c"
+ },
+ {
+ "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" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/...",
+ "name" : "anonymous",
+ "to" : "aa83a592-d631-44a2-bbaa-f812b8669bc7:/h/p/tracked",
+ "uuid" : "c69f156e-9bd8-465d-8ab3-8dda7007ee45"
+ },
+ {
+ "from" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/*_basestation/fisheye/... [sensor_msgs/Image]",
+ "name" : "anonymous",
+ "to" : "57c4f67f-9225-4bdc-9142-f9e92c2cada8:/front_camera/fisheye/image_raw/compressed",
+ "uuid" : "c51a7cbe-137e-4b4a-b9a0-20eba4b459c1"
},
{
"from" : "910781c7-928f-4445-a97b-6fbad208066f:/torso_front_camera/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "1e291716-8134-4fd0-8bfa-0d910d026fec:/camera_torso/color/image_torso [sensor_msgs/Image]",
- "uuid" : "3d56faf0-70cb-4851-9750-649c8de33158"
+ "to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/torso_front_camera/color/image_raw/theora",
+ "uuid" : "41b7678b-dcf8-429b-a17d-ffbe2f916995"
},
{
- "from" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:semantic description",
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/nav_vel [Twist]",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:semantic scene description",
- "uuid" : "0c15a3cf-3d24-491b-bbc4-e6d34b1c265c"
+ "to" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:input",
+ "uuid" : "76376fcb-a31a-40db-9220-1fef7cf68fc8"
},
{
- "from" : "633be9cd-9f1b-4cdd-b708-a1edd3742842:/depth_estimation [sensor_msgs/Image]",
+ "from" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:/robot_pose [geometry_msgs/PoseWithCovarianceStamped]",
"name" : "anonymous",
- "to" : "4fbd8427-4d9f-4087-9a30-e7df1c1f69e7:/depth_estimation [sensor_msgs/Image]",
- "uuid" : "4467cb9d-d3fe-465e-a25a-d1fbd0ccd936"
+ "to" : "57c4f67f-9225-4bdc-9142-f9e92c2cada8:/robot_pose [geometry_msgs/PoseWithCovarianceStamped]",
+ "uuid" : "466f0850-00f2-4212-84da-c44a18045976"
},
{
- "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/head_front_camera/color/image_raw [sensor_msgs/Image]",
+ "from" : "63835655-4d0a-4d5a-9849-365826ee7738:/audio/speaker2/doa [std_msgs/Float32]",
"name" : "anonymous",
- "to" : "b357b248-d5a8-445d-9c09-5c567d074966:/camera_head/color/image_raw [sensor_msgs/Image]",
- "uuid" : "467474d3-a155-434e-9203-4a9fe8b18b84"
+ "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/humans/voices/speaker2/doa [std_msgs/Float32]",
+ "uuid" : "3c4f14e2-cb5e-4303-896b-34dbea65c102"
},
{
- "from" : "b2cf0310-792d-4753-9e3d-243de1c81bbe:/go_towards [GoTowards]",
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/head_controller/command [JointTrajectory]",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/go_towards [GoTowards]",
- "uuid" : "9662dbe9-6e01-4ec3-a983-80cb2e37efb8"
+ "to" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:input",
+ "uuid" : "dbd3d5be-6110-4072-b4f0-b3f95c156d07"
},
{
- "from" : "ed36231e-fb0f-45d5-8770-6f8c613f8ca4:navigation goals",
+ "from" : "910781c7-928f-4445-a97b-6fbad208066f:torso_front_camera/infra*/*",
"name" : "anonymous",
- "to" : "bf22a99b-3b6f-416c-b967-8b4df877a72e:goal",
- "uuid" : "162ffd26-e02f-43bc-9e4c-3a0c7f2e9a2a"
+ "to" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:torso_front_camera/infra*/*",
+ "uuid" : "035790a0-fdfb-4366-9e5a-b554595434a1"
},
{
- "from" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/humans/candidate_matches [hri_msgs/IdsMatch]",
+ "from" : "63835655-4d0a-4d5a-9849-365826ee7738:/audio/speaker2/stream [audio_common_msgs/AudioData]",
"name" : "anonymous",
- "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/humans/candidate_matches [hri_msgs/IdsMatch]",
- "uuid" : "4a8ca862-079c-40e4-96a8-231cad8c087f"
+ "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/humans/voices/speaker2/stream [audio_common_msgs/AudioData]",
+ "uuid" : "7c61b1f6-932a-433a-b262-a393b0aab362"
},
{
- "from" : "ed36231e-fb0f-45d5-8770-6f8c613f8ca4:look_at goals",
+ "from" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:/tts/feedback",
"name" : "anonymous",
- "to" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6:goal",
- "uuid" : "214e1613-d347-4d05-a68d-98937b461266"
+ "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/tts/feedback",
+ "uuid" : "d18bf8c0-9a5e-478d-9d8a-a6ebc5ac0188"
},
{
- "from" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a:/h/f/*/cropped [sensor_msg/Image]",
+ "from" : "3ff4bbe5-0031-4fd1-af28-cd7bd92c0981:/h/v/*/speech [hri_msgs/LiveSpeech]",
"name" : "anonymous",
- "to" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/head_front_camera/color/image_raw/compressed [sensor_msgs/CompressedImage]",
- "uuid" : "8f212fe6-5451-41d5-968f-80c9ea000024"
+ "to" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3:/h/v/*/speech [hri_msgs/LiveSpeech]",
+ "uuid" : "9ddf2c8d-7d8c-4467-88f5-fc044f2e903f"
},
{
- "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/raw_audio [respeaker_ros/RawAudioData]",
+ "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/tracked [hri_msgs/IdsList]",
"name" : "anonymous",
- "to" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/audio/raw_audio [spring_msgs/RawAudioData]",
- "uuid" : "725d3768-1e9d-4591-8590-c2ad18a22db6"
+ "to" : "172516ca-a279-42a7-b515-ba2257887296:/humans/voices/tracked",
+ "uuid" : "211c858d-1555-493f-aef2-d36c5872bb81"
},
{
- "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/head_controller/command [JointTrajectory]",
+ "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/tracker/tracker_output [std_msgs/String]",
"name" : "anonymous",
- "to" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:input",
- "uuid" : "dbd3d5be-6110-4072-b4f0-b3f95c156d07"
+ "to" : "9f0e4a90-79fb-4f15-b769-f539dd6ccc71:/tracker/tracker_output [std_msgs/String]",
+ "uuid" : "05601663-b9e7-40f8-8a33-c8d6b235a604"
+ },
+ {
+ "from" : "910781c7-928f-4445-a97b-6fbad208066f:/torso_front_camera/imu",
+ "name" : "anonymous",
+ "to" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:/torso_front_camera/imu",
+ "uuid" : "0e8dee5d-ac4f-4d31-95cc-1ddd8fa9e8b0"
},
{
- "from" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3:/eos",
+ "from" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:/dialogue_say/text [String]",
"name" : "anonymous",
- "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/eos",
+ "to" : "d4763e1f-4652-42ee-ae51-b4f2447f4d9a:/dialogue_say/text [String]",
+ "uuid" : "6e685b46-4926-49bb-b6a2-98b2664430f0"
+ },
+ {
+ "from" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:/dialogue_say/text [String]",
+ "name" : "anonymous",
+ "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/dialogue_say/text",
+ "uuid" : "bcdbd8e8-06c3-4769-9051-297e446aae80"
+ },
+ {
+ "from" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3:/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]",
+ "name" : "anonymous",
+ "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" : "35d5af59-53e3-466c-874d-89131352c403:/RPN [action]",
"name" : "anonymous",
- "to" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a:/*_basestation/head_front_camera/... [sensor_msgs/Image]",
- "uuid" : "518627bf-01a8-4833-956d-bba1cc3efd4b"
+ "to" : "ed36231e-fb0f-45d5-8770-6f8c613f8ca4:/RPN [action server]",
+ "uuid" : "217bc92d-b743-4bb0-bc77-c3fb57c8c2e2"
},
{
- "from" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:tf: /face_id_gaze",
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:/updates",
"name" : "anonymous",
- "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:gaze direction",
- "uuid" : "0de8cacd-26a8-4d65-b9d1-266658e3c74c"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/interaction_manager/update [service]",
+ "uuid" : "a74eee63-bd44-4275-ad4d-eb6431a34a31"
+ },
+ {
+ "from" : "5a0113b6-a999-4339-8e21-44f3b8b3d693:service: /kb/query",
+ "name" : "anonymous",
+ "to" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:kb",
+ "uuid" : "e5fa5fa4-fb7f-4ea7-8a49-de1002a814d9"
},
{
"from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/tracker/tracker_output [std_msgs/String]",
@@ -783,356 +825,678 @@
"uuid" : "0cfab282-e78e-48c8-842f-d34e2e5ac484"
},
{
- "from" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/*_basestation/fisheye/... [sensor_msgs/Image]",
+ "from" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3:/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]",
"name" : "anonymous",
- "to" : "9f0e4a90-79fb-4f15-b769-f539dd6ccc71:/front_camera/fisheye/image_raw [sensor_msgs/Image]",
- "uuid" : "2a20f007-fa04-4242-85ee-a17b4805b502"
+ "to" : "d4763e1f-4652-42ee-ae51-b4f2447f4d9a:/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]",
+ "uuid" : "c8f7c225-0ff3-4cbe-963b-be6c02c3a576"
},
{
- "from" : "409d9526-77ed-4ee3-bae9-ab48381e0b28:/torso_front_camera/color/image_raw [sensor_msgs/Image]",
+ "from" : "e9861836-caed-4c19-87e2-13ba1a380613:/h/f/*/expression [hri_msgs/Expression]",
"name" : "anonymous",
- "to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/front_camera/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]",
- "uuid" : "f1c595fc-8ada-4453-a680-6ed6bb448ffa"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/h/p/*/softbiometrics [hri_msgs/Softbiometrics]",
+ "uuid" : "5dc5fa89-bcb0-457c-b062-01f7a8523c3b"
},
{
- "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/head_front_camera/color/image_raw [sensor_msgs/Image]",
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:gestures",
"name" : "anonymous",
- "to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/head_front_camera/color/image_raw/compressed",
- "uuid" : "1fb9d2e7-103a-4355-b2a9-dc3debc7be30"
+ "to" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:input",
+ "uuid" : "1b666d89-6a0a-46bb-9b96-72e8a7cbe369"
},
{
- "from" : "b357b248-d5a8-445d-9c09-5c567d074966:/detected_objects [spring_msgs/DetectedObjectArray]",
+ "from" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a:/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
"name" : "anonymous",
- "to" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:/detected_objects [spring_msgs/DetectedObjectArray]",
- "uuid" : "7c0fa9d2-5c6c-402b-bc90-78d2f32807e5"
+ "to" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
+ "uuid" : "dd7b1c17-95d6-4d76-b3b3-3ca0052b3f59"
},
{
- "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
+ "from" : "3cf6f1fb-04b3-43fa-b320-b1eb1f81505f:/slam/obstacle_map [OccupancyGrid]",
"name" : "anonymous",
- "to" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
- "uuid" : "123fb873-eb2b-4fd6-a69a-029ee1f017b5"
+ "to" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44:/slam/obstacle_map [OccupancyGrid]",
+ "uuid" : "b7364a5a-ceb2-443c-af37-2a728c4230de"
+ },
+ {
+ "from" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:output?",
+ "name" : "anonymous",
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:input",
+ "uuid" : "c6e06c4e-d9bb-44ca-927d-05258e028480"
},
{
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:next utterance",
+ "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/tracked [hri_msgs/IdsList]",
"name" : "anonymous",
- "to" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:speech [std_msgs/String]",
- "uuid" : "9d1fa155-b8c9-464f-a6b0-7a5b435833cd"
+ "to" : "3ff4bbe5-0031-4fd1-af28-cd7bd92c0981:/h/v/tracked [hri_msgs/IdsList]",
+ "uuid" : "0de9cdaa-12f8-47fb-b8b2-cf7fcd27b131"
},
{
- "from" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a:/humans/faces/tracked [hri_msgs/IdsList]",
+ "from" : "9f0e4a90-79fb-4f15-b769-f539dd6ccc71:/h/b/*/skeleton2d [hri_msg/Skeleton2D]",
"name" : "anonymous",
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},
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+ },
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},
{
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"ports" : [
{
"direction" : "out",
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+ "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
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}
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{
"label" : "INRIA",
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{
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},
{
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},
{
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},
{
"direction" : "in",
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},
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- },
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{
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{
"direction" : "in",
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+ "name" : "/controller_status [ControllerStatus]"
},
{
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},
{
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- "name" : "/detected_objects [spring_msgs/DetectedObjectArray]"
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}
],
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"ports" : [
{
"direction" : "in",
- "name" : "/front_camera_basetation/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]"
+ "name" : "goal"
},
{
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+ "direction" : "in",
+ "name" : "/controller_status [ControllerStatus]"
},
{
"direction" : "out",
- "name" : "/tracker/tracker_output [std_msgs/String]"
+ "name" : "/look_at [LookAt]"
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+ "name" : "goal"
},
{
"direction" : "out",
- "name" : "/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
+ "name" : "/go_towards [GoTowards]"
},
{
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+ "direction" : "in",
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}
],
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+ "uuid" : "c0155b17-15f4-4d86-909b-433fe737cb5f"
},
{
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- "name" : "speakers_id",
+ "label" : "HWU",
+ "name" : "dialogue_arbitrer",
"ports" : [
{
"direction" : "out",
- "name" : "/h/v/*/is_speaking [std_msgs/Bool]"
+ "name" : "/dialogue_say/say [service]"
},
{
"direction" : "out",
- "name" : "/h/v/tracked [hri_msgs/IdsList]"
+ "name" : "/get_answer [service]"
},
{
- "direction" : "out",
- "name" : "/audio/vad"
+ "direction" : "in",
+ "name" : "/dialogue_start [action server]"
},
{
"direction" : "in",
- "name" : "/audio/doa* [std_msgs/Float32]"
+ "name" : "/dialogue_arbitrer/update [service]"
},
{
"direction" : "in",
- "name" : "/audio/stream* [audio_common_msgs/AudioData]"
+ "name" : "/dialogue_arbitrer/query [service]"
},
{
"direction" : "in",
- "name" : "/audio/ego_audio [audio_common_msgs/AudioData]"
+ "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
},
{
"direction" : "out",
- "name" : "/h/v/known [hri_msgs/IdsList]"
+ "name" : "/task*_ros_server_action [action]"
},
{
- "direction" : "out",
- "name" : "/h/v/*/doa [std_msgs/Float32]"
+ "direction" : "in",
+ "name" : "/register_server [service]"
+ }
+ ],
+ "position" : [ 3760, 40 ],
+ "size" : [ 400, 293 ],
+ "sub_architecture" : "e2ee44b3-4f04-4a27-a947-525fae05035d",
+ "uuid" : "9ab39362-e233-44d2-9d06-dd24694446f2"
+ },
+ {
+ "label" : "BIU",
+ "name" : "MOCK: speaker_extraction",
+ "ports" : [
+ {
+ "direction" : "in",
+ "name" : "database of voice embeddings"
},
{
"direction" : "out",
- "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
+ "name" : "/audio/stream* [audio_common_msgs/AudioData]"
},
{
- "direction" : "out",
- "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
+ "direction" : "in",
+ "name" : "/audio/raw_audio [audio_common_msgs/AudioData]"
},
+ {
+ "direction" : "out",
+ "name" : "/audio/doa* [std_msgs/Float32]"
+ }
+ ],
+ "position" : [ 900, 20 ],
+ "size" : [ 1440, 180 ],
+ "sub_architecture" : "9a662d15-0e9a-4d34-bf73-ab087206578f",
+ "uuid" : "7439ab30-129c-4f3a-9886-149ba213c18c"
+ },
+ {
+ "label" : "HWU",
+ "name" : "dialogue_nlp",
+ "ports" : [
{
"direction" : "in",
- "name" : "/audio/enh_audio [spring_msgs/RawAudioData]"
+ "name" : "/get_answer [service]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/dialogue_nlp/nlu [JSON String]"
}
],
- "position" : [ 2160, -480 ],
- "size" : [ 520, 386 ],
- "sub_architecture" : "77ebd1d1-7f1e-47b7-8a26-4328c95c817a",
- "uuid" : "23a0d365-d60b-45d7-b229-a04bed5e41bb"
+ "position" : [ 4300, 280 ],
+ "size" : [ 280, 120 ],
+ "sub_architecture" : "f8c8f093-a1b2-4115-8526-089374b7c119",
+ "uuid" : "f845ee2c-4cb3-4cae-bde9-8ac2ba692ee7"
},
{
- "label" : "INRIA",
- "name" : "front_fisheye_2d_body_pose_detector",
+ "label" : "PAL",
+ "name" : "DEPENDENCY: spring_msgs",
+ "position" : [ 380, 2560 ],
+ "size" : [ 240, 120 ],
+ "sub_architecture" : "754b3165-805d-469a-b604-4dfef5453911",
+ "uuid" : "2e89a11f-a4b0-4b5e-8d72-975d8c47c7f7"
+ },
+ {
+ "label" : "UNITN",
+ "name" : "MOCK: User attention estimation",
"ports" : [
+ {
+ "direction" : "in",
+ "name" : "TF (faces)"
+ },
{
"direction" : "out",
- "name" : "/h/b/*/skeleton2d [hri_msg/Skeleton2D]"
+ "name" : "tf: /face_id_gaze"
},
{
"direction" : "in",
- "name" : "/front_camera/fisheye/image_raw [sensor_msgs/Image]"
+ "name" : "/h/f/*/roi [hri_msgs/RegionOfInterest]"
},
{
- "direction" : "in",
- "name" : "/tracker/tracker_output [std_msgs/String]"
+ "direction" : "out",
+ "name" : "x,y + attention heatmap"
}
],
- "position" : [ -120, 440 ],
- "size" : [ 480, 140 ],
- "sub_architecture" : "f15ca40a-1ed5-416f-8467-d1551bf43797",
- "uuid" : "9f0e4a90-79fb-4f15-b769-f539dd6ccc71"
+ "position" : [ 3060, 1840 ],
+ "size" : [ 398, 169 ],
+ "sub_architecture" : "408a78e5-e496-4642-8c61-dec0124e5095",
+ "uuid" : "46e542fd-7a41-4d9a-b3fc-981a724bf538"
},
{
- "label" : "ERM",
- "name" : "MOCK: Robot GUI [tablet]",
+ "label" : "BIU",
+ "name" : "MOCK: Voice-body matching",
"ports" : [
{
"direction" : "in",
- "name" : "speech output"
+ "name" : "tf: /voice_*"
},
{
"direction" : "in",
- "name" : "/tts/feedback"
+ "name" : "/humans/bodies/tracked"
},
{
"direction" : "in",
- "name" : "additional support material"
+ "name" : "/humans/voices/tracked"
},
{
"direction" : "in",
- "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
+ "name" : "tf: /body_*"
+ },
+ {
+ "direction" : "out",
+ "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
}
],
- "position" : [ 4240, 80 ],
- "size" : [ 400, 180 ],
- "sub_architecture" : "8a919bc7-c80b-4325-ac63-d04f2fc1d6bb",
- "uuid" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d"
+ "position" : [ 1160, 300 ],
+ "size" : [ 498, 200 ],
+ "sub_architecture" : "c5fafc14-fe29-4632-be64-aa233e6c72ee",
+ "uuid" : "172516ca-a279-42a7-b515-ba2257887296"
},
{
- "label" : "INRIA",
- "name" : "look_at_position_action_server",
+ "label" : "HWU",
+ "name" : "ros_petri_net_node",
+ "ports" : [
+ {
+ "direction" : "in",
+ "name" : "/RPN [action server]"
+ }
+ ],
+ "position" : [ 3360, 320 ],
+ "size" : [ 200, 120 ],
+ "sub_architecture" : "d08a0f04-1e8d-4aa1-b71a-b3bf4597d4e2",
+ "uuid" : "ed36231e-fb0f-45d5-8770-6f8c613f8ca4"
+ },
+ {
+ "label" : "PAL",
+ "name" : "fisheye",
"ports" : [
{
"direction" : "out",
- "name" : "/navigate [Navigate]"
+ "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
+ }
+ ],
+ "position" : [ -2140, 900 ],
+ "size" : [ 432, 120 ],
+ "sub_architecture" : "9acdd8b9-4805-4239-aec0-8db4d0977e64",
+ "uuid" : "409d9526-77ed-4ee3-bae9-ab48381e0b28"
+ },
+ {
+ "label" : "HWU",
+ "name" : "dialogue_say",
+ "ports" : [
+ {
+ "direction" : "out",
+ "name" : "/dialogue_say/text [String]"
},
{
"direction" : "in",
- "name" : "goal"
+ "name" : "/dialogue_say/say [service]"
},
{
- "direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
+ "direction" : "out",
+ "name" : "/tts/feedback"
}
],
- "position" : [ 4880, 1280 ],
- "size" : [ 271, 138 ],
- "sub_architecture" : "ba99bc77-6bde-403a-97f5-223132fb109a",
- "uuid" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6"
+ "position" : [ 4400, -140 ],
+ "size" : [ 280, 169 ],
+ "sub_architecture" : "c854e5a0-2dbe-4eee-a79b-723d08083339",
+ "uuid" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104"
},
{
"label" : "HWU",
@@ -1140,15 +1504,43 @@
"ports" : [
{
"direction" : "in",
- "name" : "semantic scene description"
+ "name" : "TF"
+ },
+ {
+ "direction" : "in",
+ "name" : "/controller_status [ControllerStatus]"
+ },
+ {
+ "direction" : "in",
+ "name" : "semantic scene description [ON HOLD]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/dialogue_start"
+ },
+ {
+ "direction" : "in",
+ "name" : "/dialogue_nlp/nlu [JSON String]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/look_at goals"
+ },
+ {
+ "direction" : "out",
+ "name" : "/navigation goals"
+ },
+ {
+ "direction" : "in",
+ "name" : "/interaction_manager/update [service]"
},
{
"direction" : "in",
- "name" : "TF"
+ "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
},
{
"direction" : "in",
- "name" : "input"
+ "name" : "/interaction_manager/query [service]"
},
{
"direction" : "out",
@@ -1156,402 +1548,352 @@
},
{
"direction" : "in",
- "name" : "dialogue state"
+ "name" : "input"
},
{
- "direction" : "in",
- "name" : "robot state"
+ "direction" : "out",
+ "name" : "/task*_ros_server_action [action]"
},
{
"direction" : "in",
- "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
+ "name" : "/register_server [service]"
}
],
- "position" : [ 3300, 820 ],
- "size" : [ 400, 386 ],
+ "position" : [ 4000, 620 ],
+ "size" : [ 400, 479 ],
"sub_architecture" : "b87a23ac-d223-4bac-b438-0b16e6e55270",
"uuid" : "bc526a14-c5aa-466e-ba5b-30a78b14d672"
},
{
"label" : "PAL",
- "name" : "DEPENDENCY: spring_msgs",
- "position" : [ 380, 2560 ],
+ "name" : "Robot functional layer",
+ "ports" : [
+ {
+ "direction" : "out",
+ "name" : "/joint_states"
+ },
+ {
+ "direction" : "in",
+ "name" : "input"
+ }
+ ],
+ "position" : [ 6460, 1260 ],
"size" : [ 240, 120 ],
- "sub_architecture" : "754b3165-805d-469a-b604-4dfef5453911",
- "uuid" : "2e89a11f-a4b0-4b5e-8d72-975d8c47c7f7"
+ "sub_architecture" : "69547d1d-f0ba-4ebf-b19b-f8cc5e63fd36",
+ "uuid" : "20eb61ac-3243-41ed-b855-451cd88e4ae5"
},
{
- "label" : "HWU",
- "name" : "social_state_analyzer",
+ "label" : "INRIA",
+ "name" : "pointcloud2occmap",
"ports" : [
{
"direction" : "in",
- "name" : "/humans/persons/tracked"
+ "name" : "torso pointcloud"
},
{
"direction" : "out",
- "name" : "output?"
+ "name" : "/slam/obstacle_map [OccupancyGrid]"
}
],
- "position" : [ 2840, 840 ],
- "size" : [ 199, 120 ],
- "sub_architecture" : "4f0b2a37-97ff-46ee-aff2-77001218ba31",
- "uuid" : "3dc083e8-26cc-448f-ae1e-25263c9f066f"
+ "position" : [ -620, 1280 ],
+ "size" : [ 440, 138 ],
+ "uuid" : "3cf6f1fb-04b3-43fa-b320-b1eb1f81505f"
},
{
- "label" : "INRIA",
- "name" : "body_3d_tracker",
+ "label" : "CVUT",
+ "name" : "MOCK: Yolact3D",
"ports" : [
{
"direction" : "out",
- "name" : "tf: /body_id"
- },
- {
- "direction" : "out",
- "name" : "/humans/bodies/tracked [hri_msgs/IdsList]"
+ "name" : "/yolact3d/detected_objects_distribution [yolact3d/Yolact3DObjects]"
},
{
"direction" : "in",
- "name" : "/tracker/tracker_output [std_msgs/String]"
+ "name" : "/slam/occupancy_map [OccupancyGrid]"
},
{
"direction" : "in",
- "name" : "/front_camera/fisheye/image_raw [sensor_msgs/Image]"
- }
- ],
- "position" : [ -100, 640 ],
- "size" : [ 460, 180 ],
- "sub_architecture" : "f6ab2c5c-5c73-439c-9342-fb1bbb24b1da",
- "uuid" : "c9b76975-8236-4440-8693-6756fef3990b"
- },
- {
- "label" : "INRIA",
- "name" : "look_at_person_server",
- "ports" : [
- {
- "direction" : "out",
- "name" : "/look_at [LookAt]"
+ "name" : "/torso_front_camera/aligned_depth_to_color [sensor_msgs/Image"
},
{
"direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
+ "name" : "tf"
},
{
"direction" : "in",
- "name" : "goal"
+ "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
}
],
- "position" : [ 4880, 1440 ],
- "size" : [ 271, 138 ],
- "sub_architecture" : "28912232-55a1-48ad-bb37-c99b7f1ad079",
- "uuid" : "9a5658f1-943d-4889-8e2a-0735ee5de159"
+ "position" : [ 480, 1880 ],
+ "size" : [ 520, 240 ],
+ "sub_architecture" : "cc914ac9-9aa0-4b00-8328-f9378e229ae9",
+ "uuid" : "b357b248-d5a8-445d-9c09-5c567d074966"
},
{
- "label" : "INRIA",
- "name" : "go_to_position_action_server",
+ "label" : "UNITN",
+ "name" : "mask_detector",
"ports" : [
{
"direction" : "out",
- "name" : "/go_towards [GoTowards]"
+ "name" : "/h/f/*/has_mask [wp4_msgs/FaceMask]"
},
{
- "direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
+ "direction" : "out",
+ "name" : "/h/f/*/cropped [sensor_msg/Image]"
},
{
"direction" : "in",
- "name" : "goal"
- }
- ],
- "position" : [ 4880, 1120 ],
- "size" : [ 271, 138 ],
- "sub_architecture" : "cc6bb1c2-c450-4e00-b0d8-b0f0d2048e04",
- "uuid" : "b2cf0310-792d-4753-9e3d-243de1c81bbe"
- },
- {
- "label" : "PAL",
- "name" : "ORB SLAM",
- "ports" : [
+ "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
+ },
{
"direction" : "out",
- "name" : "tf: /odom"
+ "name" : "/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
},
{
"direction" : "out",
- "name" : "/map [nav_msgs/OccupancyGrid]"
+ "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
},
{
- "direction" : "in",
- "name" : "/camera_torso/color/image_raw [sensor_msgs/Image]"
+ "direction" : "out",
+ "name" : "tf: /face_*"
}
],
- "position" : [ 480, 2120 ],
- "size" : [ 400, 140 ],
- "sub_architecture" : "ee613ec0-3cc8-4dce-a3da-57091d431efe",
- "uuid" : "814e358a-b568-4082-99f3-4629d35e7f2e"
+ "position" : [ -160, 840 ],
+ "size" : [ 465, 293 ],
+ "sub_architecture" : "b343b3de-f4eb-412c-ae93-fca0f090ee5d",
+ "uuid" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a"
},
{
- "label" : "HWU",
- "name" : "dialogue_speech",
+ "label" : "ERM",
+ "name" : "exp_gui",
"ports" : [
+ {
+ "direction" : "in",
+ "name" : "/diagnostics"
+ },
{
"direction" : "out",
- "name" : "/dialogue_speech"
+ "name" : "/dialogue_arbiter/reset [Empty]"
},
{
"direction" : "out",
- "name" : "/eos"
+ "name" : "/interaction_manager/start [Empty]"
},
{
"direction" : "in",
- "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
- }
- ],
- "position" : [ 3380, 360 ],
- "size" : [ 300, 138 ],
- "sub_architecture" : "257fcacc-ff35-430b-b11f-efd376c496ce",
- "uuid" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3"
- },
- {
- "label" : "UNITN",
- "name" : "mask_detector",
- "ports" : [
+ "name" : "/dialogue_start/status"
+ },
{
"direction" : "out",
- "name" : "/h/f/*/cropped [sensor_msg/Image]"
+ "name" : "/web/go_to [pal_web_msgs/WebGoTo]"
},
{
"direction" : "in",
- "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
+ "name" : "/slam/localization_pose"
},
{
"direction" : "out",
- "name" : "/h/f/*/has_mask [wp4_msgs/FaceMask]"
+ "name" : "/dialogue_start/goal [dialogue_msgs/StartDialogueActionGoal] "
},
{
"direction" : "out",
- "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
+ "name" : "/experiment_exporter/file_update [String]"
},
{
"direction" : "out",
- "name" : "/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
+ "name" : "/experiment_exporter/error_feedback [String]"
}
],
- "position" : [ 40, 920 ],
- "size" : [ 465, 293 ],
- "sub_architecture" : "b343b3de-f4eb-412c-ae93-fca0f090ee5d",
- "uuid" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a"
- },
- {
- "label" : "HWU",
- "name" : "DEPENDENCY: interaction_manager_msgs",
- "position" : [ 960, 2560 ],
- "size" : [ 340, 120 ],
- "sub_architecture" : "269a1164-ad2d-488c-9b86-b4256faddf9f",
- "uuid" : "e4ad4076-7fa2-496d-b8ce-0d2c43eca484"
+ "position" : [ 4280, -700 ],
+ "size" : [ 580, 324 ],
+ "sub_architecture" : "68debd5e-9e7a-486c-a58e-d553009e0cb3",
+ "uuid" : "2a909616-5a85-49b8-aafb-37daaa76d48c"
},
{
- "label" : "PAL",
- "name" : "Robot functional layer",
+ "label" : "INRIA",
+ "name" : "basestation_republisher",
"ports" : [
+ {
+ "direction" : "out",
+ "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
+ },
{
"direction" : "in",
- "name" : "input"
+ "name" : "/torso_front_camera/color/image_raw/theora"
+ },
+ {
+ "direction" : "in",
+ "name" : "/head_front_camera/color/image_raw/compressed"
},
{
"direction" : "out",
- "name" : "/joint_states"
+ "name" : "/*_basestation/fisheye/... [sensor_msgs/Image]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/front_camera/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/torso_front_camera/aligned_depth_to_color/image_raw/theora"
}
],
- "position" : [ 6340, 1040 ],
- "size" : [ 240, 120 ],
- "sub_architecture" : "69547d1d-f0ba-4ebf-b19b-f8cc5e63fd36",
- "uuid" : "20eb61ac-3243-41ed-b855-451cd88e4ae5"
- },
- {
- "label" : "UNITN",
- "name" : "DEPENDENCY: wp4_msgs",
- "position" : [ 660, 2560 ],
- "size" : [ 240, 120 ],
- "sub_architecture" : "af8592a3-f2de-4843-b29d-8868afac79be",
- "uuid" : "b84197a2-d5d2-42d1-942b-27383f14a278"
+ "position" : [ -1540, 820 ],
+ "size" : [ 580, 260 ],
+ "sub_architecture" : "4b6bafeb-e303-4f6b-a7db-cfa8b1fc5a23",
+ "uuid" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3"
},
{
- "label" : "UNITN",
- "name" : "MOCK: User attention estimation",
+ "label" : "ERM",
+ "name" : "Tablet UI: webapp",
"ports" : [
{
"direction" : "in",
- "name" : "TF (faces)"
+ "name" : "/audio/is_listening"
},
{
- "direction" : "out",
- "name" : "tf: /face_id_gaze"
+ "direction" : "in",
+ "name" : "/dialogue_say/text"
},
{
- "direction" : "out",
- "name" : "x,y + attention heatmap"
+ "direction" : "in",
+ "name" : "/tts/feedback"
},
{
"direction" : "in",
- "name" : "/h/f/*/roi [hri_msgs/RegionOfInterest]"
+ "name" : "/tts/goal"
+ },
+ {
+ "direction" : "in",
+ "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
}
],
- "position" : [ 3060, 1840 ],
- "size" : [ 398, 169 ],
- "sub_architecture" : "408a78e5-e496-4642-8c61-dec0124e5095",
- "uuid" : "46e542fd-7a41-4d9a-b3fc-981a724bf538"
+ "position" : [ 5000, 20 ],
+ "size" : [ 440, 220 ],
+ "sub_architecture" : "8a919bc7-c80b-4325-ac63-d04f2fc1d6bb",
+ "uuid" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d"
},
{
- "label" : "HWU",
- "name" : "ros_petri_net_node",
+ "label" : "PAL",
+ "name" : "hri_person_manager",
"ports" : [
{
"direction" : "out",
- "name" : "look_at goals"
+ "name" : "/h/p/..."
},
{
- "direction" : "in",
- "name" : "plan"
+ "direction" : "out",
+ "name" : "tf: /person_*"
},
{
"direction" : "out",
- "name" : "navigation goals"
+ "name" : "/h/p/tracked [hri_msgs/IdsList]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
}
],
- "position" : [ 4260, 1260 ],
- "size" : [ 350, 262 ],
- "sub_architecture" : "d08a0f04-1e8d-4aa1-b71a-b3bf4597d4e2",
- "uuid" : "ed36231e-fb0f-45d5-8770-6f8c613f8ca4"
+ "position" : [ 1740, 660 ],
+ "size" : [ 360, 200 ],
+ "sub_architecture" : "1f5e18f3-1be0-4e21-a3e1-439a597fe002",
+ "uuid" : "43da963c-18a8-4ad7-86f6-f361a9d25d36"
},
{
- "label" : "BIU",
- "name" : "audio_processing_mode",
+ "label" : "INRIA",
+ "name" : "body_to_face_mapper",
"ports" : [
{
"direction" : "in",
- "name" : "/audio/raw_audio [spring_msgs/RawAudioData]"
+ "name" : "/humans/bodies/tracked [hri_msgs/IdsList]"
},
{
"direction" : "out",
- "name" : "/audio/enh_audio [spring_msgs/RawAudioData]"
- }
- ],
- "position" : [ 1100, -360 ],
- "size" : [ 580, 260 ],
- "sub_architecture" : "703291ee-d2c9-4f3c-a94c-fb6030dd783e",
- "uuid" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3"
- },
- {
- "label" : "CVUT",
- "name" : "MOCK: Occupancy map",
- "ports" : [
+ "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
+ },
{
"direction" : "in",
- "name" : "TF (bodies)"
+ "name" : "/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
},
{
"direction" : "in",
- "name" : "dense 3d map"
+ "name" : "/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
},
{
- "direction" : "out",
- "name" : "/map_refined [nav_msgs/OccupancyGrid]"
+ "direction" : "in",
+ "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
}
],
- "position" : [ 1620, 2080 ],
- "size" : [ 440, 200 ],
- "uuid" : "b62de7f5-7899-48fd-a64d-3226e68bb21f"
+ "position" : [ 780, 600 ],
+ "size" : [ 420, 200 ],
+ "sub_architecture" : "4bd1bc1e-a5e1-4db9-9f83-e80c15e56e08",
+ "uuid" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8"
},
{
- "label" : "BIU",
- "name" : "riva_asr",
+ "label" : "UNITN",
+ "name" : "gaze_estimation",
"ports" : [
{
- "direction" : "out",
- "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
+ "direction" : "in",
+ "name" : "/h/f/*/roi [sensor_msgs/RegionOfInterest]"
},
{
"direction" : "in",
- "name" : "/h/v/tracked [hri_msgs/IdsList]"
+ "name" : "/depth_estimation [sensor_msgs/Image]"
},
{
- "direction" : "in",
- "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
+ "direction" : "out",
+ "name" : "GazeFrame [2D point in heatmap]"
}
],
- "position" : [ 2820, -400 ],
- "size" : [ 540, 169 ],
- "sub_architecture" : "11d2ee50-fd1e-4664-be3b-1a250ec7d758",
- "uuid" : "49998d33-7c64-4557-b1c9-56b241b59600"
+ "position" : [ 1700, 1540 ],
+ "size" : [ 500, 160 ],
+ "sub_architecture" : "2acb3f97-e06f-4e94-a48f-a3e140ad55fb",
+ "uuid" : "4fbd8427-4d9f-4087-9a30-e7df1c1f69e7"
},
{
- "label" : "CVUT",
- "name" : "MOCK: InLoc-ROS",
+ "label" : "INRIA",
+ "name" : "go_to_body_action_server",
"ports" : [
{
"direction" : "out",
- "name" : "dense 3d map"
- },
- {
- "direction" : "out",
- "name" : "tf: /odom"
- },
- {
- "direction" : "in",
- "name" : "localisation prior"
+ "name" : "/go_towards [GoTowards]"
},
{
"direction" : "in",
- "name" : "/camera_torso/color/image_torso [sensor_msgs/Image]"
+ "name" : "goal"
},
{
"direction" : "in",
- "name" : "/camera_head/color/image_head [sensor_msgs/Image]"
+ "name" : "/controller_status [ControllerStatus]"
}
],
- "position" : [ 1040, 2080 ],
- "size" : [ 440, 200 ],
- "sub_architecture" : "2bad5ef3-b107-4535-b48b-20195aae9d9e",
- "uuid" : "1e291716-8134-4fd0-8bfa-0d910d026fec"
+ "position" : [ 5020, 800 ],
+ "size" : [ 271, 138 ],
+ "sub_architecture" : "afd60208-b9e3-47d6-91db-ff98641995c4",
+ "uuid" : "2fb3e19c-7562-4c43-bd74-c043a5efec7c"
},
{
"label" : "HWU",
- "name" : "dialogue_arbiter",
+ "name" : "social_strategy_supervisor",
"ports" : [
- {
- "direction" : "in",
- "name" : "interaction messages"
- },
- {
- "direction" : "in",
- "name" : "/dialogue_speech"
- },
- {
- "direction" : "in",
- "name" : "/eos"
- },
- {
- "direction" : "out",
- "name" : "DialogueState"
- },
{
"direction" : "out",
- "name" : "next utterance"
+ "name" : "output?"
}
],
- "position" : [ 3800, 500 ],
- "size" : [ 300, 200 ],
- "sub_architecture" : "e2ee44b3-4f04-4a27-a947-525fae05035d",
- "uuid" : "9ab39362-e233-44d2-9d06-dd24694446f2"
+ "position" : [ 3080, 1020 ],
+ "size" : [ 200, 120 ],
+ "sub_architecture" : "02a6c7d9-b0e8-4b4c-a838-56a4990ca96c",
+ "uuid" : "a1d01235-a287-4e67-900b-d0e446924e2a"
},
{
"label" : "INRIA",
- "name" : "go_to_person_action_server",
+ "name" : "go_to_position_action_server",
"ports" : [
{
"direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
+ "name" : "goal"
},
{
"direction" : "out",
@@ -1559,207 +1901,198 @@
},
{
"direction" : "in",
- "name" : "goal"
+ "name" : "/controller_status [ControllerStatus]"
}
],
- "position" : [ 4880, 960 ],
+ "position" : [ 5020, 1120 ],
"size" : [ 271, 138 ],
- "sub_architecture" : "8877ac09-dcf3-4f4b-9462-d7948759a3a3",
- "uuid" : "bf22a99b-3b6f-416c-b967-8b4df877a72e"
+ "sub_architecture" : "cc6bb1c2-c450-4e00-b0d8-b0f0d2048e04",
+ "uuid" : "b2cf0310-792d-4753-9e3d-243de1c81bbe"
},
{
"label" : "INRIA",
- "name" : "group_detector",
+ "name" : "front_fisheye_body_tracker",
"ports" : [
+ {
+ "direction" : "out",
+ "name" : ""
+ },
{
"direction" : "in",
- "name" : "/h/p/tracked"
+ "name" : "/front_camera_basetation/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]"
},
{
"direction" : "out",
- "name" : "/h/g/tracked [hri_msgs/IdList]"
+ "name" : "/h/b/*/cropped [sensor_msgs/Image]"
},
{
"direction" : "out",
- "name" : "/h/g/*/members [hri_msgs/IdList]"
+ "name" : "/tracker/tracker_output [std_msgs/String]"
},
{
- "direction" : "in",
- "name" : "tf: /body_id"
+ "direction" : "out",
+ "name" : "/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
}
],
- "position" : [ 2220, 660 ],
- "size" : [ 280, 169 ],
- "sub_architecture" : "ac9968c7-7626-4459-a7b3-ccbfaaac682c",
- "uuid" : "aa83a592-d631-44a2-bbaa-f812b8669bc7"
+ "position" : [ -1260, 400 ],
+ "size" : [ 680, 200 ],
+ "sub_architecture" : "d0367ed7-2b45-4244-9507-538e7767127f",
+ "uuid" : "d609252f-2fd4-4439-86c3-ece9fd387a3a"
},
{
- "label" : "INRIA",
- "name" : "behavior_generator",
+ "label" : "UNITN",
+ "name" : "MOCK: Activity reco",
"ports" : [
{
"direction" : "out",
- "name" : "/nav_vel [Twist]"
+ "name" : "[?] output"
},
{
"direction" : "in",
- "name" : "/joint_states"
- },
+ "name" : "/h/b/*/skeleton_2d [hri_msg/Skeleton2D]"
+ }
+ ],
+ "position" : [ 1200, 1200 ],
+ "size" : [ 304, 160 ],
+ "sub_architecture" : "96cd31ae-5485-40db-8b27-b5a09888f810",
+ "uuid" : "d715b004-7177-4001-bd9d-725e87789c94"
+ },
+ {
+ "label" : "PAL",
+ "name" : "torso_rgbd_camera",
+ "ports" : [
{
"direction" : "out",
- "name" : "status"
- },
- {
- "direction" : "in",
- "name" : "/rtabmap/proj_map [OccupancyGrid]"
+ "name" : "/torso_front_camera/imu"
},
{
- "direction" : "in",
- "name" : "/go_towards [GoTowards]"
+ "direction" : "out",
+ "name" : "pointcloud"
},
{
- "direction" : "in",
- "name" : "/h/g/tracked"
+ "direction" : "out",
+ "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
},
{
"direction" : "out",
- "name" : "tf: ?"
- },
+ "name" : "torso_front_camera/infra*/*"
+ }
+ ],
+ "position" : [ -2160, 1100 ],
+ "size" : [ 432, 138 ],
+ "sub_architecture" : "0ccd4f8f-abe0-4eae-9d35-d6af509364eb",
+ "uuid" : "910781c7-928f-4445-a97b-6fbad208066f"
+ },
+ {
+ "label" : "CVUT",
+ "name" : "slam_rtabmap",
+ "ports" : [
{
"direction" : "in",
- "name" : "/humans/persons/tracked"
+ "name" : "/torso_front_camera/imu"
},
{
- "direction" : "in",
- "name" : "/navigate [Navigate]"
+ "direction" : "out",
+ "name" : "/slam/occupancy_map [OccupancyGrid]"
},
{
"direction" : "in",
- "name" : "/look_at [LookAt]"
+ "name" : "torso_front_camera/infra*/*"
},
{
"direction" : "out",
- "name" : "/head_controller/command [JointTrajectory]"
+ "name" : "tf: /odom"
},
{
- "direction" : "in",
- "name" : "status"
+ "direction" : "out",
+ "name" : "/robot_pose [geometry_msgs/PoseWithCovarianceStamped]"
},
{
"direction" : "in",
- "name" : "tf: /person_id"
+ "name" : "[call HLoc to perform global localization]"
}
],
- "position" : [ 5520, 1120 ],
- "size" : [ 580, 479 ],
- "sub_architecture" : "d5ec9783-4c4f-4652-a8bd-b786a1905f48",
- "uuid" : "328fd73c-ead7-4b87-a815-401958fa77a2"
+ "position" : [ -620, 1460 ],
+ "size" : [ 436, 231 ],
+ "sub_architecture" : "046d668f-a787-4753-ab2f-c2b04f922ad0",
+ "uuid" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe"
},
{
- "label" : "PAL",
- "name" : "knowledge_core",
+ "label" : "UNITN",
+ "name" : "soft_biometrics_estimator",
"ports" : [
{
"direction" : "out",
- "name" : "service: /kb/query"
+ "name" : "/h/f/*/softbiometrics [hri_msgs/SoftBiometrics]"
},
{
"direction" : "in",
- "name" : "/kb/add_fact [std_msgs/String]"
- }
- ],
- "position" : [ 2860, 1480 ],
- "size" : [ 350, 231 ],
- "sub_architecture" : "15ec41b7-dcd6-4504-88c5-5eb6b80899f2",
- "uuid" : "5a0113b6-a999-4339-8e21-44f3b8b3d693"
- },
- {
- "label" : "HWU",
- "name" : "google_translate",
- "ports" : [
+ "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
+ },
{
"direction" : "in",
- "name" : "/get_answer"
+ "name" : "/head_front_camera/color/image_raw/compressed [sensor_msgs/CompressedImage]"
},
{
"direction" : "out",
- "name" : "/response"
+ "name" : "/humans/candidate_matches [hri_msgs/IdsMatch] [face reco]"
}
],
- "position" : [ 3300, 620 ],
- "size" : [ 160, 120 ],
- "sub_architecture" : "d0fddd1e-f657-40a0-a891-c8afbb1f7868",
- "uuid" : "f21e6ef5-5274-4054-9411-c15bd7562fb6"
- },
- {
- "label" : "CVUT",
- "name" : "DEPENDENCY: InLoc Server",
- "position" : [ 1040, 2340 ],
- "size" : [ 440, 120 ],
- "sub_architecture" : "6858249f-9e01-4ab4-bf37-0703767a5250",
- "uuid" : "db2a580b-0dff-4309-a779-a211275824d8"
+ "position" : [ 940, 960 ],
+ "size" : [ 601, 169 ],
+ "sub_architecture" : "970d1105-d292-4308-b90f-8d8005a781eb",
+ "uuid" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e"
},
{
- "label" : "CVUT",
- "name" : "MOCK: Object detection/identification/localisation",
+ "label" : "HWU",
+ "name" : "recipe_planner",
"ports" : [
{
"direction" : "in",
- "name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
+ "name" : "/task*_ros_server_action [action]"
+ },
+ {
+ "direction" : "in",
+ "name" : "PDDL yaml library"
},
{
"direction" : "out",
- "name" : "/detected_objects [spring_msgs/DetectedObjectArray]"
- }
- ],
- "position" : [ 1040, 1840 ],
- "size" : [ 440, 140 ],
- "sub_architecture" : "cc914ac9-9aa0-4b00-8328-f9378e229ae9",
- "uuid" : "b357b248-d5a8-445d-9c09-5c567d074966"
- },
- {
- "label" : "PAL",
- "name" : "raspicam",
- "ports" : [
+ "name" : "/queries"
+ },
{
"direction" : "out",
- "name" : "/head_front_camera/color/image_raw [sensor_msgs/Image]"
- }
- ],
- "position" : [ -2140, 1320 ],
- "size" : [ 440, 120 ],
- "sub_architecture" : "cf447604-0976-4fc3-ad4e-a135fa8ba454",
- "uuid" : "a284bd3a-0273-4d81-89ce-bc8d042b2674"
- },
- {
- "label" : "INRIA",
- "name" : "slam_rtabmap",
- "ports" : [
+ "name" : "/updates"
+ },
{
"direction" : "out",
- "name" : "/slam/occupancy_map [OccupancyGrid]"
+ "name" : "/RPN [action]"
},
{
"direction" : "in",
- "name" : "torso_front_camera/infra*/*"
+ "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
},
{
- "direction" : "out",
- "name" : "tf: /odom"
+ "direction" : "in",
+ "name" : "semantic scene description"
},
{
- "direction" : "in",
- "name" : "/torso_front_camera/imu"
+ "direction" : "out",
+ "name" : "/register_server [service]"
}
],
- "position" : [ -140, 1280 ],
- "size" : [ 360, 200 ],
- "uuid" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe"
+ "position" : [ 2920, 20 ],
+ "size" : [ 400, 293 ],
+ "sub_architecture" : "9ff15583-a3c7-439b-a578-91ea4afac364",
+ "uuid" : "35d5af59-53e3-466c-874d-89131352c403"
},
{
"label" : "UNITN",
"name" : "MOCK: User visual focus",
"ports" : [
+ {
+ "direction" : "in",
+ "name" : "attention"
+ },
{
"direction" : "in",
"name" : "gaze direction"
@@ -1772,17 +2105,13 @@
"direction" : "out",
"name" : "/h/i/gaze [hri_msgs/Gaze]"
},
- {
- "direction" : "out",
- "name" : "who's looking at what?"
- },
{
"direction" : "in",
"name" : "scene"
},
{
- "direction" : "in",
- "name" : "attention"
+ "direction" : "out",
+ "name" : "who's looking at what?"
}
],
"position" : [ 3620, 2080 ],
@@ -1794,165 +2123,152 @@
"label" : "PAL",
"name" : "people_facts",
"ports" : [
- {
- "direction" : "in",
- "name" : "/h/p/..."
- },
{
"direction" : "out",
"name" : "/kb/add_fact [std_msgs/String]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/h/p/..."
}
],
- "position" : [ 2520, 1200 ],
+ "position" : [ 2280, 1080 ],
"size" : [ 240, 180 ],
"sub_architecture" : "bfea9558-3b6a-44a6-a8ae-75c1e679ff48",
"uuid" : "8dc55dfc-0215-44a1-9795-9255c328b198"
},
- {
- "label" : "PAL",
- "name" : "torso_rgbd_camera",
- "ports" : [
- {
- "direction" : "out",
- "name" : "torso_front_camera/infra*/*"
- },
- {
- "direction" : "out",
- "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
- },
- {
- "direction" : "out",
- "name" : "/torso_front_camera/imu"
- }
- ],
- "position" : [ -2160, 1100 ],
- "size" : [ 432, 138 ],
- "sub_architecture" : "0ccd4f8f-abe0-4eae-9d35-d6af509364eb",
- "uuid" : "910781c7-928f-4445-a97b-6fbad208066f"
- },
{
"label" : "UNITN",
- "name" : "soft_biometrics_estimator",
+ "name" : "MOCK: Non-verbal behaviours",
"ports" : [
{
"direction" : "out",
- "name" : "/humans/candidate_matches [hri_msgs/IdsMatch] [face reco]"
+ "name" : "/h/f/*/expression [hri_msgs/Expression]"
},
{
"direction" : "in",
- "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
- },
- {
- "direction" : "out",
- "name" : "/h/f/*/softbiometrics [hri_msgs/SoftBiometrics]"
+ "name" : "/h/v/*/raw_audio [spring_msgs/RawAudioData]"
},
{
"direction" : "in",
- "name" : "/head_front_camera/color/image_raw/compressed [sensor_msgs/CompressedImage]"
+ "name" : "/h/f/*/roi [hri_msgs/RegionOfInterest]"
}
],
- "position" : [ 1500, 1080 ],
- "size" : [ 601, 169 ],
- "sub_architecture" : "970d1105-d292-4308-b90f-8d8005a781eb",
- "uuid" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e"
+ "position" : [ 2520, 560 ],
+ "size" : [ 480, 180 ],
+ "sub_architecture" : "4beabc83-79c9-482d-8b56-d7f36ed58492",
+ "uuid" : "e9861836-caed-4c19-87e2-13ba1a380613"
},
{
- "label" : "PAL",
- "name" : "respeaker_ros",
+ "label" : "INRIA",
+ "name" : "group_detector",
"ports" : [
{
"direction" : "out",
- "name" : "/audio/ego_audio [audio_common_msgs/AudioData]"
+ "name" : "/h/g/tracked [hri_msgs/IdList]"
},
{
"direction" : "out",
- "name" : "/audio/raw_audio [respeaker_ros/RawAudioData]"
- }
- ],
- "position" : [ 440, 280 ],
- "size" : [ 400, 120 ],
- "sub_architecture" : "b96ac6ba-08a0-4df0-8341-206c356f7c87",
- "uuid" : "3e7d7601-34c6-4975-9e36-f50968f141b2"
- },
- {
- "label" : "UNITN",
- "name" : "MOCK: Activity reco",
- "ports" : [
+ "name" : "/h/g/*/members [hri_msgs/IdList]"
+ },
+ {
+ "direction" : "out",
+ "name" : "tf: /group_*"
+ },
{
"direction" : "in",
- "name" : "/h/b/*/skeleton_2d [hri_msg/Skeleton2D]"
+ "name" : "tf: /person_*"
},
{
- "direction" : "out",
- "name" : "[?] output"
+ "direction" : "in",
+ "name" : "/h/p/tracked"
}
],
- "position" : [ 960, 1260 ],
- "size" : [ 304, 160 ],
- "sub_architecture" : "96cd31ae-5485-40db-8b27-b5a09888f810",
- "uuid" : "d715b004-7177-4001-bd9d-725e87789c94"
+ "position" : [ 2220, 280 ],
+ "size" : [ 380, 200 ],
+ "sub_architecture" : "ac9968c7-7626-4459-a7b3-ccbfaaac682c",
+ "uuid" : "aa83a592-d631-44a2-bbaa-f812b8669bc7"
},
{
- "label" : "INRIA",
- "name" : "look_at_action_server",
+ "label" : "HWU",
+ "name" : "DEPENDENCY: social_scene_msgs",
+ "position" : [ 1680, 2560 ],
+ "size" : [ 280, 120 ],
+ "sub_architecture" : "ed680a03-e715-423d-b567-001b19ca4840",
+ "uuid" : "fdf1f034-d96a-4852-bb69-3934073e6708"
+ },
+ {
+ "label" : "HWU",
+ "name" : "DEPENDENCY: interaction_manager_msgs",
+ "position" : [ 960, 2560 ],
+ "size" : [ 340, 120 ],
+ "sub_architecture" : "269a1164-ad2d-488c-9b86-b4256faddf9f",
+ "uuid" : "e4ad4076-7fa2-496d-b8ce-0d2c43eca484"
+ },
+ {
+ "label" : "BIU",
+ "name" : "riva_asr_1",
"ports" : [
{
"direction" : "out",
- "name" : "/look_at [LookAt]"
+ "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
},
{
"direction" : "in",
- "name" : "goal"
+ "name" : "/h/v/tracked [hri_msgs/IdsList]"
},
{
"direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
+ "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
}
],
- "position" : [ 4880, 1600 ],
- "size" : [ 271, 138 ],
- "sub_architecture" : "a5174b81-fea1-4d89-bfe5-7c909fcb134f",
- "uuid" : "4d1289b0-8d15-4c6c-ba82-f4fb9c3f4f17"
+ "position" : [ 2660, -200 ],
+ "size" : [ 540, 138 ],
+ "uuid" : "3ff4bbe5-0031-4fd1-af28-cd7bd92c0981"
},
{
- "label" : "INRIA",
- "name" : "go_to_group_action_server",
+ "label" : "HWU",
+ "name" : "social_state_analyzer",
"ports" : [
{
"direction" : "in",
- "name" : "goal"
+ "name" : "/humans/persons/tracked"
},
{
- "direction" : "out",
- "name" : "/go_towards [GoTowards]"
+ "direction" : "in",
+ "name" : "kb"
},
{
- "direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
+ "direction" : "out",
+ "name" : "output?"
}
],
- "position" : [ 4880, 640 ],
- "size" : [ 271, 138 ],
- "sub_architecture" : "90d17edc-f200-49f6-adad-5100466d6703",
- "uuid" : "c0155b17-15f4-4d86-909b-433fe737cb5f"
+ "position" : [ 3080, 840 ],
+ "size" : [ 199, 120 ],
+ "sub_architecture" : "4f0b2a37-97ff-46ee-aff2-77001218ba31",
+ "uuid" : "3dc083e8-26cc-448f-ae1e-25263c9f066f"
},
{
- "label" : "PAL",
- "name" : "dialogue_say",
+ "label" : "BIU",
+ "name" : "riva_asr_0",
"ports" : [
+ {
+ "direction" : "in",
+ "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
+ },
{
"direction" : "out",
- "name" : "/tts/feedback"
+ "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
},
{
"direction" : "in",
- "name" : "speech [std_msgs/String]"
+ "name" : "/h/v/tracked [hri_msgs/IdsList]"
}
],
- "position" : [ 4460, 600 ],
- "size" : [ 280, 120 ],
- "sub_architecture" : "c854e5a0-2dbe-4eee-a79b-723d08083339",
- "uuid" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104"
+ "position" : [ 2660, -380 ],
+ "size" : [ 540, 169 ],
+ "sub_architecture" : "11d2ee50-fd1e-4664-be3b-1a250ec7d758",
+ "uuid" : "49998d33-7c64-4557-b1c9-56b241b59600"
},
{
"label" : "HWU",
@@ -1964,195 +2280,124 @@
},
{
"label" : "BIU",
- "name" : "source separation + localisation",
+ "name" : "speakers_id",
"ports" : [
- {
- "direction" : "in",
- "name" : "/audio/enh_audio [spring_msgs/RawAudioData]"
- },
{
"direction" : "out",
- "name" : "/audio/doa* [std_msgs/Float32]"
+ "name" : "/h/v/known [hri_msgs/IdsList]"
},
{
"direction" : "out",
- "name" : "/audio/stream* [audio_common_msgs/AudioData]"
- }
- ],
- "position" : [ 1740, -40 ],
- "size" : [ 363, 220 ],
- "sub_architecture" : "37223016-2101-4a72-a9d4-e04119d5bb88",
- "uuid" : "b1c71045-3970-4124-90e6-161884892755"
- },
- {
- "label" : "HWU",
- "name" : "recipe_planner",
- "ports" : [
- {
- "direction" : "out",
- "name" : "interaction state"
- },
- {
- "direction" : "in",
- "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
+ "name" : "/h/v/*/doa [std_msgs/Float32]"
},
{
"direction" : "out",
- "name" : "plan"
+ "name" : "/h/v/tracked [hri_msgs/IdsList]"
},
{
"direction" : "in",
- "name" : "semantic scene description"
+ "name" : "/audio/ego_audio [audio_common_msgs/AudioData]"
},
{
"direction" : "in",
- "name" : "dialogue state"
- }
- ],
- "position" : [ 3600, 1280 ],
- "size" : [ 400, 293 ],
- "sub_architecture" : "9ff15583-a3c7-439b-a578-91ea4afac364",
- "uuid" : "35d5af59-53e3-466c-874d-89131352c403"
- },
- {
- "label" : "UNITN",
- "name" : "depth_estimation",
- "ports" : [
- {
- "direction" : "in",
- "name" : "/head_front_camera/color/image_raw/compressed [sensor_msgs/CompressedImage]"
+ "name" : "/humans/voices/speaker1/stream [audio_common_msgs/AudioData]"
},
{
"direction" : "out",
- "name" : "/depth_estimation [sensor_msgs/Image]"
- }
- ],
- "position" : [ 780, 1560 ],
- "size" : [ 601, 160 ],
- "sub_architecture" : "bc0aa7fa-7aef-44a0-8cd1-48e4a3e87e7b",
- "uuid" : "633be9cd-9f1b-4cdd-b708-a1edd3742842"
- },
- {
- "label" : "PAL",
- "name" : "hri_person_manager",
- "ports" : [
+ "name" : "tf: /voice_*"
+ },
{
"direction" : "out",
- "name" : "/h/p/..."
+ "name" : "/audio/vad"
},
{
"direction" : "out",
- "name" : "/h/p/tracked [hri_msgs/IdsList]"
+ "name" : "/h/v/*/is_speaking [std_msgs/Bool]"
},
{
- "direction" : "out",
- "name" : "tf: /person_id"
+ "direction" : "in",
+ "name" : "/humans/voices/speaker2/stream [audio_common_msgs/AudioData]"
},
{
"direction" : "in",
- "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
- }
- ],
- "position" : [ 1820, 780 ],
- "size" : [ 300, 200 ],
- "sub_architecture" : "1f5e18f3-1be0-4e21-a3e1-439a597fe002",
- "uuid" : "43da963c-18a8-4ad7-86f6-f361a9d25d36"
- },
- {
- "label" : "PAL",
- "name" : "fisheye",
- "ports" : [
+ "name" : "/humans/voices/speaker1/doa [std_msgs/Float32]"
+ },
{
"direction" : "out",
- "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
+ "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/humans/voices/speaker2/doa [std_msgs/Float32]"
}
],
- "position" : [ -2140, 900 ],
- "size" : [ 432, 120 ],
- "sub_architecture" : "9acdd8b9-4805-4239-aec0-8db4d0977e64",
- "uuid" : "409d9526-77ed-4ee3-bae9-ab48381e0b28"
+ "position" : [ 1580, -460 ],
+ "size" : [ 760, 440 ],
+ "sub_architecture" : "77ebd1d1-7f1e-47b7-8a26-4328c95c817a",
+ "uuid" : "23a0d365-d60b-45d7-b229-a04bed5e41bb"
},
{
- "label" : "HWU",
- "name" : "DEPENDENCY: robot_behaviour_msgs",
- "position" : [ 1340, 2560 ],
- "size" : [ 300, 120 ],
- "sub_architecture" : "9d93f431-05b6-4ee4-88ea-8bb60a01611f",
- "uuid" : "ef2aa285-f20c-40de-a0fe-b4bb37a9ee8a"
+ "label" : "PAL",
+ "name" : "DEPENDENCY: hri_msgs",
+ "position" : [ 60, 2560 ],
+ "size" : [ 280, 120 ],
+ "sub_architecture" : "7590c224-e846-4f1c-9ecb-0a2992568089",
+ "uuid" : "b5076968-861b-43cb-8bd8-35a5fefebfe4"
},
{
- "label" : "HWU",
- "name" : "alana_node",
+ "label" : "INRIA",
+ "name" : "occupancy_map_republisher",
"ports" : [
{
"direction" : "out",
- "name" : "/response"
+ "name" : "/slam/local_map [OccupancyGrid]"
},
{
"direction" : "in",
- "name" : "/get_answer"
+ "name" : "/slam/obstacle_map [OccupancyGrid]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/slam/occupancy_map [OccupancyGrid]"
}
],
- "position" : [ 3840, 340 ],
- "size" : [ 280, 120 ],
- "sub_architecture" : "f8c8f093-a1b2-4115-8526-089374b7c119",
- "uuid" : "f845ee2c-4cb3-4cae-bde9-8ac2ba692ee7"
+ "position" : [ -20, 1280 ],
+ "size" : [ 440, 138 ],
+ "uuid" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44"
},
{
- "label" : "BIU",
- "name" : "MOCK: Voice-body matching",
+ "label" : "ERM",
+ "name" : "experiment_exporter",
"ports" : [
{
"direction" : "in",
- "name" : "tf: /face_id"
+ "name" : "/experiment_exporter/file_update [String]"
},
{
"direction" : "in",
- "name" : "tf: /voice_id"
+ "name" : "/dialogue_say/text [String]"
},
- {
- "direction" : "out",
- "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
- }
- ],
- "position" : [ 1320, 300 ],
- "size" : [ 498, 169 ],
- "sub_architecture" : "c5fafc14-fe29-4632-be64-aa233e6c72ee",
- "uuid" : "172516ca-a279-42a7-b515-ba2257887296"
- },
- {
- "label" : "PAL",
- "name" : "DEPENDENCY: hri_msgs",
- "position" : [ 60, 2560 ],
- "size" : [ 280, 120 ],
- "sub_architecture" : "7590c224-e846-4f1c-9ecb-0a2992568089",
- "uuid" : "b5076968-861b-43cb-8bd8-35a5fefebfe4"
- },
- {
- "label" : "HWU",
- "name" : "social_scene_context_understanding",
- "ports" : [
{
"direction" : "in",
- "name" : "scene graph"
+ "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
},
{
- "direction" : "out",
- "name" : "semantic description"
+ "direction" : "in",
+ "name" : "/experiment_exporter/error_feedback [String]"
}
],
- "position" : [ 2280, 2000 ],
- "size" : [ 400, 120 ],
- "sub_architecture" : "05421051-4c03-42de-8bbb-0d0965e14f68",
- "uuid" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef"
+ "position" : [ 5020, -360 ],
+ "size" : [ 456, 293 ],
+ "sub_architecture" : "923f34e5-2023-4f02-985d-3e7f472b861f",
+ "uuid" : "d4763e1f-4652-42ee-ae51-b4f2447f4d9a"
},
{
"label" : "INRIA",
- "name" : "go_to_body_action_server",
+ "name" : "look_at_action_server",
"ports" : [
{
"direction" : "out",
- "name" : "/go_towards [GoTowards]"
+ "name" : "/look_at [LookAt]"
},
{
"direction" : "in",
@@ -2163,44 +2408,60 @@
"name" : "/controller_status [ControllerStatus]"
}
],
- "position" : [ 4880, 800 ],
+ "position" : [ 5020, 1600 ],
"size" : [ 271, 138 ],
- "sub_architecture" : "afd60208-b9e3-47d6-91db-ff98641995c4",
- "uuid" : "2fb3e19c-7562-4c43-bd74-c043a5efec7c"
+ "sub_architecture" : "a5174b81-fea1-4d89-bfe5-7c909fcb134f",
+ "uuid" : "4d1289b0-8d15-4c6c-ba82-f4fb9c3f4f17"
},
{
- "label" : "INRIA",
- "name" : "body_to_face_mapper",
+ "label" : "UNITN",
+ "name" : "DEPENDENCY: wp4_msgs",
+ "position" : [ 660, 2560 ],
+ "size" : [ 240, 120 ],
+ "sub_architecture" : "af8592a3-f2de-4843-b29d-8868afac79be",
+ "uuid" : "b84197a2-d5d2-42d1-942b-27383f14a278"
+ },
+ {
+ "label" : "HWU",
+ "name" : "DEPENDENCY: robot_behaviour_msgs",
+ "position" : [ 1340, 2560 ],
+ "size" : [ 300, 120 ],
+ "sub_architecture" : "9d93f431-05b6-4ee4-88ea-8bb60a01611f",
+ "uuid" : "ef2aa285-f20c-40de-a0fe-b4bb37a9ee8a"
+ },
+ {
+ "label" : "BIU",
+ "name" : "speaker_separation",
"ports" : [
{
"direction" : "out",
- "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
+ "name" : "/audio/speaker1/stream [audio_common_msgs/AudioData]"
},
{
- "direction" : "in",
- "name" : "/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
+ "direction" : "out",
+ "name" : "/audio/speaker2/stream [audio_common_msgs/AudioData]"
},
{
"direction" : "in",
- "name" : "/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
+ "name" : "/audio/raw_audio [audio_common_msgs/AudioData]"
},
{
- "direction" : "in",
- "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
+ "direction" : "out",
+ "name" : "/audio/speaker2/doa [std_msgs/Float32]"
},
{
- "direction" : "in",
- "name" : "/humans/bodies/tracked [hri_msgs/IdsList]"
+ "direction" : "out",
+ "name" : "/audio/speaker1/doa [std_msgs/Float32]"
}
],
- "position" : [ 580, 720 ],
- "size" : [ 420, 138 ],
- "sub_architecture" : "4bd1bc1e-a5e1-4db9-9f83-e80c15e56e08",
- "uuid" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8"
+ "position" : [ 900, -460 ],
+ "size" : [ 600, 440 ],
+ "sub_architecture" : "ded25e98-4132-4678-bef7-5d0945fdaf78",
+ "uuid" : "63835655-4d0a-4d5a-9849-365826ee7738"
}
],
"uuid" : "234f40f3-f9bb-4d69-8121-aec26ac8c228",
- "version" : "1.1.0"
+ "version" : "2.0.0"
}
],
"root" : "234f40f3-f9bb-4d69-8121-aec26ac8c228"