diff --git a/architecture.json b/architecture.json
index 15e7299bd6ca27d2f296ba55a6aa4feab8e7e736..6b6c5513d27676ec84f518a104817f96cc15ad17 100644
--- a/architecture.json
+++ b/architecture.json
@@ -1,51 +1,21 @@
{
"architectures" : [
{
- "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" : "slam_rtabmap is...",
- "name" : "slam_rtabmap",
- "uuid" : "046d668f-a787-4753-ab2f-c2b04f922ad0",
- "version" : "0.0.1"
- },
- {
- "description" : "BRIEF:Activity recognition\n ",
- "name" : "MOCK: Activity reco",
- "uuid" : "96cd31ae-5485-40db-8b27-b5a09888f810",
- "version" : "0.0.1"
- },
- {
- "description" : "BRIEF: Frontal RGB-D camera driver",
- "name" : "torso_rgbd_camera",
- "uuid" : "0ccd4f8f-abe0-4eae-9d35-d6af509364eb",
- "version" : "0.0.1"
+ "description" : "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:Matching between localised voices and detected bodies\n ",
- "name" : "MOCK: Voice-body matching",
- "uuid" : "c5fafc14-fe29-4632-be64-aa233e6c72ee",
+ "description" : "BRIEF:Non-verbal behaviour generation\n ",
+ "name" : "MOCK: Non-verbal behaviours",
+ "uuid" : "4beabc83-79c9-482d-8b56-d7f36ed58492",
"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" : "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" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git SUBFOLDER:dialogue_arbiter",
- "name" : "dialogue arbiter",
- "uuid" : "e2ee44b3-4f04-4a27-a947-525fae05035d",
+ "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"
},
{
@@ -55,88 +25,88 @@
"version" : "0.0.2"
},
{
- "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:ALANA chatbot\n ",
- "name" : "alana_node",
- "uuid" : "f8c8f093-a1b2-4115-8526-089374b7c119",
- "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",
+ "version" : "master"
},
{
- "description" : "BRIEF:High-level interaction supervisor\n ",
- "name" : "social_strategy_supervisor",
- "uuid" : "02a6c7d9-b0e8-4b4c-a838-56a4990ca96c",
- "version" : "0.0.1"
+ "description" : "blind separation + VAD + enhancement\n\nREPO: git@gitlab.inria.fr:spring/wp3_av_perception/audio_separation.git",
+ "name" : "speaker_separation",
+ "uuid" : "ded25e98-4132-4678-bef7-5d0945fdaf78",
+ "version" : "main"
},
{
- "description" : "BRIEF:Robot action server (navigation to location)\n ",
- "name" : "go_to_position_action_server",
- "uuid" : "cc6bb1c2-c450-4e00-b0d8-b0f0d2048e04",
+ "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:Non-verbal behaviour generation\n ",
- "name" : "MOCK: Non-verbal behaviours",
- "uuid" : "4beabc83-79c9-482d-8b56-d7f36ed58492",
- "version" : "0.0.1"
+ "description" : "The code is primarily developed at INRIA by Timothée Wintz.\nREPO: https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior\nSUBFOLDER:src/robot_behavior",
+ "name" : "robot_behavior",
+ "uuid" : "d5ec9783-4c4f-4652-a8bd-b786a1905f48",
+ "version" : "devel"
},
{
- "description" : "BRIEF:Laser-based 3D people pose estimation REPO:https://gitlab.inria.fr/spring/wp3_av_perception/body_3d_tracker",
- "name" : "body_3d_tracker",
- "uuid" : "f6ab2c5c-5c73-439c-9342-fb1bbb24b1da",
+ "description" : "BRIEF: proxy to robot's TTS action server for ERM convenience",
+ "name" : "dialogue_say",
+ "uuid" : "c854e5a0-2dbe-4eee-a79b-723d08083339",
"version" : "main"
},
{
- "description" : "BRIEF:Face-body matching\nThis node associates detected bodies to detected faces in image-space. REPO:https://gitlab.inria.fr/spring/wp3_av_perception/body_to_face_mapper",
- "name" : "body_to_face_mapper",
- "uuid" : "4bd1bc1e-a5e1-4db9-9f83-e80c15e56e08",
- "version" : "main"
+ "description" : "only single-speaker pipeline\n\nBRIEF:Audio pre-processing (incl. noise cancellation) This node performs: - speech echo cancelation, - single microphone audio enhancement, REPO:https://gitlab.inria.fr/spring/wp3_av_perception/speech-enhancement SUBFOLDER:audio_processing ",
+ "name" : "audio_processing",
+ "uuid" : "703291ee-d2c9-4f3c-a94c-fb6030dd783e",
+ "version" : "BIU_dev"
},
{
- "description" : "BRIEF:None\nREPO:git@gitlab.inria.fr:spring/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/interaction.git\nSUBFOLDER:social_scene_msgs\nNOT EXECUTABLE",
+ "name" : "DEPENDENCY: social_scene_msgs",
+ "uuid" : "ed680a03-e715-423d-b567-001b19ca4840",
+ "version" : "spring_dev"
},
{
- "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: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 (person approach)\n ",
- "name" : "go_to_person_action_server",
- "uuid" : "8877ac09-dcf3-4f4b-9462-d7948759a3a3",
- "version" : "0.0.1"
+ "description" : "BRIEF:Speech recognition based on NVIDIA Riva REPO:https://gitlab.inria.fr/spring/wp3_av_perception/riva_asr_ros_client ",
+ "name" : "riva_asr",
+ "uuid" : "11d2ee50-fd1e-4664-be3b-1a250ec7d758",
+ "version" : "main"
},
{
- "description" : "Detects presence of a facial mask\nREPO:https://gitlab.inria.fr/spring/wp4_behavior/mask-detection BIN:mask_detector.py",
- "name" : "Mask detection",
- "uuid" : "b343b3de-f4eb-412c-ae93-fca0f090ee5d",
- "version" : "master"
+ "description" : "BRIEF:Monocular gaze estimation on planar image This node uses deep learning to estimate, on a given frame, the focus of attention of a detected face. It outputs the 2D coordinate of the most likely focus of attention, in the image space. REPO:https://gitlab.inria.fr/spring/wp4_behavior/gaze-estimation",
+ "name" : "gaze_estimation",
+ "uuid" : "2acb3f97-e06f-4e94-a48f-a3e140ad55fb",
+ "version" : "devel"
},
{
- "description" : "BRIEF: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",
+ "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" : "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: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: frontal fisheye camera driver",
- "name" : "fisheye",
- "uuid" : "9acdd8b9-4805-4239-aec0-8db4d0977e64",
- "version" : "0.0.1"
+ "description" : "BRIEF:None\nREPO: git@gitlab:ros4hri/hri_msgs.git\nNOT EXECUTABLE",
+ "name" : "DEPENDENCY: hri_msgs",
+ "uuid" : "7590c224-e846-4f1c-9ecb-0a2992568089",
+ "version" : "0.1.1"
},
{
"description" : "Detects age/gender\nREPO:git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git\nSUBFOLDER:wp4_people_characteristics\nBIN:soft_biometrics_estimator.py",
@@ -151,94 +121,100 @@
"version" : "0.0.1"
},
{
- "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" : "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: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:ALANA chatbot\n ",
+ "name" : "alana_node",
+ "uuid" : "f8c8f093-a1b2-4115-8526-089374b7c119",
+ "version" : "0.0.1"
},
{
- "description" : "BRIEF:Petrinet-based task planning\nros_petri_net_node is...",
- "name" : "ros_petri_net_node",
- "uuid" : "d08a0f04-1e8d-4aa1-b71a-b3bf4597d4e2",
+ "description" : "BRIEF:High-level interaction supervisor\n ",
+ "name" : "social_strategy_supervisor",
+ "uuid" : "02a6c7d9-b0e8-4b4c-a838-56a4990ca96c",
"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: RGB head camera driver",
+ "name" : "raspicam",
+ "uuid" : "cf447604-0976-4fc3-ad4e-a135fa8ba454",
+ "version" : "0.0.1"
},
{
- "description" : "BRIEF:Robot action server (body approach)\n ",
- "name" : "go_to_body_action_server",
- "uuid" : "afd60208-b9e3-47d6-91db-ff98641995c4",
+ "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: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:Semantic bridge between human perception and the knowledge base\nREPO:https://gitlab.inria.fr/spring/wp7_ari/people_facts",
+ "name" : "people_facts",
+ "uuid" : "bfea9558-3b6a-44a6-a8ae-75c1e679ff48",
+ "version" : "0.2.2"
},
{
- "description" : "BRIEF: proxy to robot's TTS action server for ERM convenience",
- "name" : "dialogue_say",
- "uuid" : "c854e5a0-2dbe-4eee-a79b-723d08083339",
- "version" : "main"
+ "description" : "BRIEF:Robot action server ('look at person' action)\n ",
+ "name" : "look_at_position_action_server",
+ "uuid" : "ba99bc77-6bde-403a-97f5-223132fb109a",
+ "version" : "0.0.1"
},
{
- "description" : "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",
+ "description" : "BRIEF:Speaker identification based on voice embeddings\nREPO:git@gitlab.inria.fr:spring/wp4_behavior/non-integrated-contributions/speaker_identification.git",
+ "name" : "speakers_id",
+ "uuid" : "77ebd1d1-7f1e-47b7-8a26-4328c95c817a",
+ "version" : "dual_speaker_ecapa"
+ },
+ {
+ "description" : "REPO:https://gitlab.inria.fr/spring/wp4_behavior/human-2d-pose-estimation",
+ "name" : "human-2d-pose-estimation",
+ "uuid" : "6a63c8f2-ccf1-434f-807e-1c0570ccdbc4",
"version" : "main"
},
{
- "description" : "BRIEF:Monocular gaze estimation on planar image This node uses deep learning to estimate, on a given frame, the focus of attention of a detected face. It outputs the 2D coordinate of the most likely focus of attention, in the image space. REPO:https://gitlab.inria.fr/spring/wp4_behavior/gaze-estimation",
- "name" : "gaze_estimation",
- "uuid" : "2acb3f97-e06f-4e94-a48f-a3e140ad55fb",
- "version" : "devel"
+ "description" : "BRIEF:Social scene understanding\n ",
+ "name" : "social_state_analyzer",
+ "uuid" : "4f0b2a37-97ff-46ee-aff2-77001218ba31",
+ "version" : "0.0.1"
},
{
- "description" : "BRIEF:None\nREPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/asr.git\nSUBFOLDER:audio_msgs\nNOT EXECUTABLE",
- "name" : "DEPENDENCY: audio_msgs",
- "uuid" : "88aec3fc-6d19-455e-96fc-303c6aaab831",
- "version" : "spring_dev"
+ "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: robot's hardware interfaces",
- "name" : "Robot functional layer",
- "uuid" : "69547d1d-f0ba-4ebf-b19b-f8cc5e63fd36",
- "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" : "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" : "slam_rtabmap is...",
+ "name" : "slam_rtabmap",
+ "uuid" : "046d668f-a787-4753-ab2f-c2b04f922ad0",
+ "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",
- "version" : "master"
+ "description" : "BRIEF:Activity recognition\n ",
+ "name" : "MOCK: Activity reco",
+ "uuid" : "96cd31ae-5485-40db-8b27-b5a09888f810",
+ "version" : "0.0.1"
},
{
- "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: Frontal RGB-D camera driver",
+ "name" : "torso_rgbd_camera",
+ "uuid" : "0ccd4f8f-abe0-4eae-9d35-d6af509364eb",
+ "version" : "0.0.1"
},
{
- "description" : "The code is primarily developed at INRIA by Timothée Wintz.\nREPO: https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior\nSUBFOLDER:src/robot_behavior",
- "name" : "robot_behavior",
- "uuid" : "d5ec9783-4c4f-4652-a8bd-b786a1905f48",
- "version" : "devel"
+ "description" : "BRIEF:Matching between localised voices and detected bodies\n ",
+ "name" : "MOCK: Voice-body matching",
+ "uuid" : "c5fafc14-fe29-4632-be64-aa233e6c72ee",
+ "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/",
@@ -246,12 +222,6 @@
"uuid" : "d0367ed7-2b45-4244-9507-538e7767127f",
"version" : "devel"
},
- {
- "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:Microphone array driver REPO:git@gitlab.inria.fr:spring/wp7_ari/respeaker_ros.git BIN:respeaker_multichan_node.py",
"name" : "respeaker_ros",
@@ -259,156 +229,192 @@
"version" : "master"
},
{
- "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:Group detection (incl. f-formations)\nREPO:https://gitlab.inria.fr/spring/wp4_behavior/group_detector",
+ "name" : "group_detector",
+ "uuid" : "ac9968c7-7626-4459-a7b3-ccbfaaac682c",
+ "version" : "main"
},
{
- "description" : "BRIEF:None\n ",
- "name" : "look_at_person_server",
- "uuid" : "28912232-55a1-48ad-bb37-c99b7f1ad079",
+ "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: 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/wp5_spoken_conversations/plan_actions.git\nSUBFOLDER:robot_behaviour_msgs\nNOT EXECUTABLE",
- "name" : "DEPENDENCY: robot_behaviour_msgs",
- "uuid" : "9d93f431-05b6-4ee4-88ea-8bb60a01611f",
- "version" : "spring_dev"
+ "description" : "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 depth estimation\nREPO:https://gitlab.inria.fr/spring/wp4_behavior/depth-estimation",
- "name" : "depth_estimation",
- "uuid" : "bc0aa7fa-7aef-44a0-8cd1-48e4a3e87e7b",
+ "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" : "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\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:Semantic bridge between human perception and the knowledge base\nREPO:https://gitlab.inria.fr/spring/wp7_ari/people_facts",
- "name" : "people_facts",
- "uuid" : "bfea9558-3b6a-44a6-a8ae-75c1e679ff48",
- "version" : "0.2.2"
+ "description" : "BRIEF: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:Robot action server ('look at person' action)\n ",
- "name" : "look_at_position_action_server",
- "uuid" : "ba99bc77-6bde-403a-97f5-223132fb109a",
+ "description" : "BRIEF:Speech recognition based on NVIDIA Riva (2nd instance for 2nd speaker)\nREPO:https://gitlab.inria.fr/spring/wp3_av_perception/riva_asr_ros_client ",
+ "name" : "riva_asr_1",
+ "uuid" : "23b514b9-a56c-461e-9dc0-7da9dd15e0fe",
+ "version" : "main"
+ },
+ {
+ "description" : "BRIEF:Robot action server (navigation to location)\n ",
+ "name" : "go_to_position_action_server",
+ "uuid" : "cc6bb1c2-c450-4e00-b0d8-b0f0d2048e04",
"version" : "0.0.1"
},
{
- "description" : "BRIEF: RGB head camera driver",
- "name" : "raspicam",
- "uuid" : "cf447604-0976-4fc3-ad4e-a135fa8ba454",
+ "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: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/dialogue.git SUBFOLDER:dialogue_arbiter",
+ "name" : "dialogue arbiter",
+ "uuid" : "e2ee44b3-4f04-4a27-a947-525fae05035d",
+ "version" : "main"
},
{
- "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" : "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: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" : "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" : "REPO:https://gitlab.inria.fr/spring/wp4_behavior/human-2d-pose-estimation",
- "name" : "human-2d-pose-estimation",
- "uuid" : "6a63c8f2-ccf1-434f-807e-1c0570ccdbc4",
+ "description" : "BRIEF: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" : "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:Monocular depth estimation\nREPO:https://gitlab.inria.fr/spring/wp4_behavior/depth-estimation",
+ "name" : "depth_estimation",
+ "uuid" : "bc0aa7fa-7aef-44a0-8cd1-48e4a3e87e7b",
"version" : "main"
},
{
- "description" : "BRIEF:Social scene understanding\n ",
- "name" : "social_state_analyzer",
- "uuid" : "4f0b2a37-97ff-46ee-aff2-77001218ba31",
+ "description" : "BRIEF:None\n ",
+ "name" : "look_at_person_server",
+ "uuid" : "28912232-55a1-48ad-bb37-c99b7f1ad079",
"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:None\nREPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git\nSUBFOLDER:robot_behaviour_msgs\nNOT EXECUTABLE",
+ "name" : "DEPENDENCY: robot_behaviour_msgs",
+ "uuid" : "9d93f431-05b6-4ee4-88ea-8bb60a01611f",
+ "version" : "spring_dev"
+ },
+ {
+ "description" : "BRIEF:None\nREPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/asr.git\nSUBFOLDER:audio_msgs\nNOT EXECUTABLE",
+ "name" : "DEPENDENCY: audio_msgs",
+ "uuid" : "88aec3fc-6d19-455e-96fc-303c6aaab831",
+ "version" : "spring_dev"
+ },
+ {
+ "description" : "BRIEF: robot's hardware interfaces",
+ "name" : "Robot functional layer",
+ "uuid" : "69547d1d-f0ba-4ebf-b19b-f8cc5e63fd36",
+ "version" : "0.0.1"
},
{
"connections" : [
{
- "from" : "2a909616-5a85-49b8-aafb-37daaa76d48c:/experiment_exporter/file_update [String]",
+ "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/tracked [hri_msgs/IdsList]",
"name" : "anonymous",
- "to" : "d4763e1f-4652-42ee-ae51-b4f2447f4d9a:/experiment_exporter/file_update [String]",
- "uuid" : "71002a47-5413-4c8b-9210-e987982437d8"
+ "to" : "49998d33-7c64-4557-b1c9-56b241b59600:/h/v/tracked [hri_msgs/IdsList]",
+ "uuid" : "9c2706ae-a494-4a78-a944-834fe7c4d97f"
},
{
- "from" : "c9b76975-8236-4440-8693-6756fef3990b:/humans/bodies/tracked [hri_msgs/IdsList]",
+ "from" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44:/slam/local_map [OccupancyGrid]",
"name" : "anonymous",
- "to" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/humans/bodies/tracked [hri_msgs/IdsList]",
- "uuid" : "02c0b533-92ac-4444-9bc3-2f68adfd7e03"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/slam/local_map [OccupancyGrid]",
+ "uuid" : "56df27e4-afb2-47fa-94cc-39d91d888790"
},
{
- "from" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90:/humans/faces/tracked [hri_msgs/IdsList]",
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:/queries",
"name" : "anonymous",
- "to" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/humans/faces/tracked [hri_msgs/IdsList]",
- "uuid" : "d71e2684-c6c3-4e46-ac60-90b10280bf77"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/interaction_manager/query [service]",
+ "uuid" : "5f958a4f-4e9b-4339-9a4b-bc4184294be4"
},
{
- "from" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/humans/candidate_matches [hri_msgs/IdsMatch] [face reco]",
+ "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:/get_answer [service]",
"name" : "anonymous",
- "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/humans/candidate_matches [hri_msgs/IdsMatch]",
- "uuid" : "eb962d9e-e647-488b-8b25-566fcf956758"
+ "to" : "f845ee2c-4cb3-4cae-bde9-8ac2ba692ee7:/get_answer [service]",
+ "uuid" : "492038a0-5169-4175-8684-4105c1b6a884"
},
{
- "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/*/audio [audio_common_msgs/AudioData]",
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
"name" : "anonymous",
- "to" : "3ff4bbe5-0031-4fd1-af28-cd7bd92c0981:/h/v/*/audio [audio_common_msgs/AudioData]",
- "uuid" : "ccad50ef-3df0-49e8-a543-ab6d00fe87fd"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/controller_status [ControllerStatus]",
+ "uuid" : "34a8a7dd-e143-45c5-bbcd-c0176684ad6c"
},
{
- "from" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:/slam/occupancy_map [OccupancyGrid]",
+ "from" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:/dialogue_say/text [String]",
"name" : "anonymous",
- "to" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44:/slam/occupancy_map [OccupancyGrid]",
- "uuid" : "1bed6e12-acfb-4ff4-a7f8-559ad7df5b2a"
+ "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/dialogue_say/text",
+ "uuid" : "8247d454-c373-4abb-98a7-665e10228244"
},
{
- "from" : "49998d33-7c64-4557-b1c9-56b241b59600:/h/v/*/speech [hri_msgs/LiveSpeech]",
+ "from" : "c9b76975-8236-4440-8693-6756fef3990b:tf: /body_*",
"name" : "anonymous",
- "to" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3:/h/v/*/speech [hri_msgs/LiveSpeech]",
- "uuid" : "a934598a-0e35-42c6-bae8-7bf2a38205a1"
+ "to" : "172516ca-a279-42a7-b515-ba2257887296:tf: /body_*",
+ "uuid" : "54c50500-4375-42ea-8633-ff35dfd2ea48"
},
{
- "from" : "35d5af59-53e3-466c-874d-89131352c403:/queries",
+ "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/tracked [hri_msgs/IdsList]",
"name" : "anonymous",
- "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_arbitrer/query [service]",
- "uuid" : "06375299-1ca4-45db-9866-d73f5a7dda00"
+ "to" : "172516ca-a279-42a7-b515-ba2257887296:/humans/voices/tracked",
+ "uuid" : "211c858d-1555-493f-aef2-d36c5872bb81"
},
{
- "from" : "c9b76975-8236-4440-8693-6756fef3990b:/humans/bodies/tracked [hri_msgs/IdsList]",
+ "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/tracker/tracker_output [std_msgs/String]",
"name" : "anonymous",
- "to" : "172516ca-a279-42a7-b515-ba2257887296:/humans/bodies/tracked",
- "uuid" : "806927e3-3932-4ade-a7ac-66aae1d77361"
+ "to" : "9f0e4a90-79fb-4f15-b769-f539dd6ccc71:/tracker/tracker_output [std_msgs/String]",
+ "uuid" : "05601663-b9e7-40f8-8a33-c8d6b235a604"
},
{
- "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/...",
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:/RPN [action]",
"name" : "anonymous",
- "to" : "8dc55dfc-0215-44a1-9795-9255c328b198:/h/p/...",
- "uuid" : "25df8089-5bc4-4a4c-9e3a-44a008a58247"
+ "to" : "ed36231e-fb0f-45d5-8770-6f8c613f8ca4:/RPN [action server]",
+ "uuid" : "217bc92d-b743-4bb0-bc77-c3fb57c8c2e2"
},
{
- "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
+ "from" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/*_basestation/fisheye/... [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "bf22a99b-3b6f-416c-b967-8b4df877a72e:/controller_status [ControllerStatus]",
- "uuid" : "7b7abfe6-e4a2-4579-bc08-12e63f53f8f4"
+ "to" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/front_camera_basetation/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]",
+ "uuid" : "21d49c6c-a6a8-49d5-9ab6-b166e461e189"
},
{
"from" : "c0155b17-15f4-4d86-909b-433fe737cb5f:/go_towards [GoTowards]",
@@ -434,12 +440,6 @@
"to" : "b2cf0310-792d-4753-9e3d-243de1c81bbe:/controller_status [ControllerStatus]",
"uuid" : "68350299-f55a-46af-af4b-03e6415f2237"
},
- {
- "from" : "e9861836-caed-4c19-87e2-13ba1a380613:/h/f/*/expression [hri_msgs/Expression]",
- "name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/h/p/*/softbiometrics [hri_msgs/Softbiometrics]",
- "uuid" : "5dc5fa89-bcb0-457c-b062-01f7a8523c3b"
- },
{
"from" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6:/navigate [Navigate]",
"name" : "anonymous",
@@ -453,34 +453,22 @@
"uuid" : "25aa5561-a18f-4039-90e5-8083440cbfca"
},
{
- "from" : "c9b76975-8236-4440-8693-6756fef3990b:tf: /body_*",
- "name" : "anonymous",
- "to" : "172516ca-a279-42a7-b515-ba2257887296:tf: /body_*",
- "uuid" : "54c50500-4375-42ea-8633-ff35dfd2ea48"
- },
- {
- "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/tracked [hri_msgs/IdsList]",
- "name" : "anonymous",
- "to" : "172516ca-a279-42a7-b515-ba2257887296:/humans/voices/tracked",
- "uuid" : "211c858d-1555-493f-aef2-d36c5872bb81"
- },
- {
- "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/tracker/tracker_output [std_msgs/String]",
+ "from" : "63835655-4d0a-4d5a-9849-365826ee7738:/audio/speaker2/stream [audio_common_msgs/AudioData]",
"name" : "anonymous",
- "to" : "9f0e4a90-79fb-4f15-b769-f539dd6ccc71:/tracker/tracker_output [std_msgs/String]",
- "uuid" : "05601663-b9e7-40f8-8a33-c8d6b235a604"
+ "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/humans/voices/speaker2/stream [audio_common_msgs/AudioData]",
+ "uuid" : "7c61b1f6-932a-433a-b262-a393b0aab362"
},
{
- "from" : "35d5af59-53e3-466c-874d-89131352c403:/RPN [action]",
+ "from" : "bf22a99b-3b6f-416c-b967-8b4df877a72e:/go_towards [GoTowards]",
"name" : "anonymous",
- "to" : "ed36231e-fb0f-45d5-8770-6f8c613f8ca4:/RPN [action server]",
- "uuid" : "217bc92d-b743-4bb0-bc77-c3fb57c8c2e2"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/go_towards [GoTowards]",
+ "uuid" : "425790fa-4175-499d-9784-642548e93757"
},
{
- "from" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/*_basestation/fisheye/... [sensor_msgs/Image]",
+ "from" : "910781c7-928f-4445-a97b-6fbad208066f:/torso_front_camera/imu",
"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" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:/torso_front_camera/imu",
+ "uuid" : "0e8dee5d-ac4f-4d31-95cc-1ddd8fa9e8b0"
},
{
"from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/head_front_camera/color/image_raw [sensor_msgs/Image]",
@@ -513,22 +501,28 @@
"uuid" : "035790a0-fdfb-4366-9e5a-b554595434a1"
},
{
- "from" : "63835655-4d0a-4d5a-9849-365826ee7738:/audio/speaker2/stream [audio_common_msgs/AudioData]",
+ "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
"name" : "anonymous",
- "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/humans/voices/speaker2/stream [audio_common_msgs/AudioData]",
- "uuid" : "7c61b1f6-932a-433a-b262-a393b0aab362"
+ "to" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
+ "uuid" : "123fb873-eb2b-4fd6-a69a-029ee1f017b5"
},
{
- "from" : "bf22a99b-3b6f-416c-b967-8b4df877a72e:/go_towards [GoTowards]",
+ "from" : "2fb3e19c-7562-4c43-bd74-c043a5efec7c:/go_towards [GoTowards]",
"name" : "anonymous",
"to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/go_towards [GoTowards]",
- "uuid" : "425790fa-4175-499d-9784-642548e93757"
+ "uuid" : "c609a59e-f951-488b-828f-91bb2326594c"
},
{
- "from" : "910781c7-928f-4445-a97b-6fbad208066f:/torso_front_camera/imu",
+ "from" : "b2cf0310-792d-4753-9e3d-243de1c81bbe:/go_towards [GoTowards]",
"name" : "anonymous",
- "to" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:/torso_front_camera/imu",
- "uuid" : "0e8dee5d-ac4f-4d31-95cc-1ddd8fa9e8b0"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/go_towards [GoTowards]",
+ "uuid" : "9662dbe9-6e01-4ec3-a983-80cb2e37efb8"
+ },
+ {
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
+ "name" : "anonymous",
+ "to" : "4d1289b0-8d15-4c6c-ba82-f4fb9c3f4f17:/controller_status [ControllerStatus]",
+ "uuid" : "76e0492e-f642-4ebf-af53-3f86b5c457bb"
},
{
"from" : "910781c7-928f-4445-a97b-6fbad208066f:pointcloud",
@@ -554,30 +548,6 @@
"to" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
"uuid" : "e04cabe4-e3e5-479d-b31b-5b185be0e4bc"
},
- {
- "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
- "name" : "anonymous",
- "to" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
- "uuid" : "123fb873-eb2b-4fd6-a69a-029ee1f017b5"
- },
- {
- "from" : "2fb3e19c-7562-4c43-bd74-c043a5efec7c:/go_towards [GoTowards]",
- "name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/go_towards [GoTowards]",
- "uuid" : "c609a59e-f951-488b-828f-91bb2326594c"
- },
- {
- "from" : "b2cf0310-792d-4753-9e3d-243de1c81bbe:/go_towards [GoTowards]",
- "name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/go_towards [GoTowards]",
- "uuid" : "9662dbe9-6e01-4ec3-a983-80cb2e37efb8"
- },
- {
- "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
- "name" : "anonymous",
- "to" : "4d1289b0-8d15-4c6c-ba82-f4fb9c3f4f17:/controller_status [ControllerStatus]",
- "uuid" : "76e0492e-f642-4ebf-af53-3f86b5c457bb"
- },
{
"from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
"name" : "anonymous",
@@ -603,106 +573,82 @@
"uuid" : "9ddf2c8d-7d8c-4467-88f5-fc044f2e903f"
},
{
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:/task*_ros_server_action [action]",
- "name" : "anonymous",
- "to" : "35d5af59-53e3-466c-874d-89131352c403:/task*_ros_server_action [action]",
- "uuid" : "4fbf5aeb-0cec-4f04-9fbf-20ecb50a6477"
- },
- {
- "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/raw_audio [audio_common_msgs/AudioData]",
- "name" : "anonymous",
- "to" : "63835655-4d0a-4d5a-9849-365826ee7738:/audio/raw_audio [audio_common_msgs/AudioData]",
- "uuid" : "a9550dcf-8884-4f05-b2ab-8eb9f15f46ed"
- },
- {
- "from" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:/slam/occupancy_map [OccupancyGrid]",
+ "from" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90:/humans/faces/tracked [hri_msgs/IdsList]",
"name" : "anonymous",
- "to" : "b357b248-d5a8-445d-9c09-5c567d074966:/slam/occupancy_map [OccupancyGrid]",
- "uuid" : "ec99c998-7fd1-4c29-89c1-4b8fa7e50d02"
+ "to" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/humans/faces/tracked [hri_msgs/IdsList]",
+ "uuid" : "d71e2684-c6c3-4e46-ac60-90b10280bf77"
},
{
- "from" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90:/h/f/*/cropped [sensor_msg/Image]",
+ "from" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/humans/candidate_matches [hri_msgs/IdsMatch] [face reco]",
"name" : "anonymous",
- "to" : "e9861836-caed-4c19-87e2-13ba1a380613:/h/f/*/cropped [sensor_msg/Image]",
- "uuid" : "7d97ba46-a34a-45d0-9166-af338cf70944"
+ "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/humans/candidate_matches [hri_msgs/IdsMatch]",
+ "uuid" : "eb962d9e-e647-488b-8b25-566fcf956758"
},
{
- "from" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:output?",
+ "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/*/audio [audio_common_msgs/AudioData]",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:input",
- "uuid" : "c6e06c4e-d9bb-44ca-927d-05258e028480"
+ "to" : "3ff4bbe5-0031-4fd1-af28-cd7bd92c0981:/h/v/*/audio [audio_common_msgs/AudioData]",
+ "uuid" : "ccad50ef-3df0-49e8-a543-ab6d00fe87fd"
},
{
- "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/tracked [hri_msgs/IdsList]",
+ "from" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:/slam/occupancy_map [OccupancyGrid]",
"name" : "anonymous",
- "to" : "3ff4bbe5-0031-4fd1-af28-cd7bd92c0981:/h/v/tracked [hri_msgs/IdsList]",
- "uuid" : "0de9cdaa-12f8-47fb-b8b2-cf7fcd27b131"
+ "to" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44:/slam/occupancy_map [OccupancyGrid]",
+ "uuid" : "1bed6e12-acfb-4ff4-a7f8-559ad7df5b2a"
},
{
- "from" : "9f0e4a90-79fb-4f15-b769-f539dd6ccc71:/h/b/*/skeleton2d [hri_msg/Skeleton2D]",
+ "from" : "49998d33-7c64-4557-b1c9-56b241b59600:/h/v/*/speech [hri_msgs/LiveSpeech]",
"name" : "anonymous",
- "to" : "c9b76975-8236-4440-8693-6756fef3990b:/h/b/*/skeleton2d [hri_msg/Skeleton2D]",
- "uuid" : "e7fb301f-b3ec-424f-aa1f-a764731a9fb5"
+ "to" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3:/h/v/*/speech [hri_msgs/LiveSpeech]",
+ "uuid" : "a934598a-0e35-42c6-bae8-7bf2a38205a1"
},
{
- "from" : "409d9526-77ed-4ee3-bae9-ab48381e0b28:/torso_front_camera/color/image_raw [sensor_msgs/Image]",
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:/queries",
"name" : "anonymous",
- "to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/front_camera/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]",
- "uuid" : "f1c595fc-8ada-4453-a680-6ed6bb448ffa"
+ "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_arbitrer/query [service]",
+ "uuid" : "06375299-1ca4-45db-9866-d73f5a7dda00"
},
{
- "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/audio/is_listening",
+ "from" : "c9b76975-8236-4440-8693-6756fef3990b:/humans/bodies/tracked [hri_msgs/IdsList]",
"name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/audio/is_listening",
- "uuid" : "d68ab13d-5adf-4b9a-aa8f-d805df483ebf"
+ "to" : "172516ca-a279-42a7-b515-ba2257887296:/humans/bodies/tracked",
+ "uuid" : "806927e3-3932-4ade-a7ac-66aae1d77361"
},
{
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:/human_dialogue",
+ "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/...",
"name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/human_dialogue",
- "uuid" : "8036c6aa-b132-4290-8c32-3981c2821af5"
+ "to" : "8dc55dfc-0215-44a1-9795-9255c328b198:/h/p/...",
+ "uuid" : "25df8089-5bc4-4a4c-9e3a-44a008a58247"
},
{
- "from" : "172516ca-a279-42a7-b515-ba2257887296:/humans/candidate_matches [hri_msgs/IdsMatch]",
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
"name" : "anonymous",
- "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/humans/candidate_matches [hri_msgs/IdsMatch]",
- "uuid" : "1831088f-50a4-402b-b940-ecdd59a82868"
+ "to" : "bf22a99b-3b6f-416c-b967-8b4df877a72e:/controller_status [ControllerStatus]",
+ "uuid" : "7b7abfe6-e4a2-4579-bc08-12e63f53f8f4"
},
{
- "from" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3:/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]",
+ "from" : "aa83a592-d631-44a2-bbaa-f812b8669bc7:/h/g/tracked [hri_msgs/IdList]",
"name" : "anonymous",
- "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]",
- "uuid" : "beeedb50-f5a6-4096-823d-5d07afadd4ab"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/h/g/tracked",
+ "uuid" : "a3ffd70f-2c63-4e9c-8a54-b7256faf5f00"
},
{
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:gestures",
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/head_controller/command [JointTrajectory]",
"name" : "anonymous",
"to" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:input",
- "uuid" : "1b666d89-6a0a-46bb-9b96-72e8a7cbe369"
- },
- {
- "from" : "3cf6f1fb-04b3-43fa-b320-b1eb1f81505f:/slam/obstacle_map [OccupancyGrid]",
- "name" : "anonymous",
- "to" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44:/slam/obstacle_map [OccupancyGrid]",
- "uuid" : "b7364a5a-ceb2-443c-af37-2a728c4230de"
- },
- {
- "from" : "9a5658f1-943d-4889-8e2a-0735ee5de159:/look_at [LookAt]",
- "name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/look_at [LookAt]",
- "uuid" : "90b73e40-c764-46c4-ac32-abcedc29a818"
+ "uuid" : "dbd3d5be-6110-4072-b4f0-b3f95c156d07"
},
{
- "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
+ "from" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90:/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
"name" : "anonymous",
- "to" : "9a5658f1-943d-4889-8e2a-0735ee5de159:/controller_status [ControllerStatus]",
- "uuid" : "42e3806c-f806-45e7-876c-098a97560980"
+ "to" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
+ "uuid" : "9d1c7d46-8013-4520-b4b4-c1e4aecb1f23"
},
{
- "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
+ "from" : "63835655-4d0a-4d5a-9849-365826ee7738:/audio/speaker2/doa [std_msgs/Float32]",
"name" : "anonymous",
- "to" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6:/controller_status [ControllerStatus]",
- "uuid" : "1ef0d26e-d2bf-4fd0-8551-48caf5caa422"
+ "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/humans/voices/speaker2/doa [std_msgs/Float32]",
+ "uuid" : "3c4f14e2-cb5e-4303-896b-34dbea65c102"
},
{
"from" : "633be9cd-9f1b-4cdd-b708-a1edd3742842:/depth_estimation [sensor_msgs/Image]",
@@ -728,30 +674,6 @@
"to" : "57c4f67f-9225-4bdc-9142-f9e92c2cada8:/robot_pose [geometry_msgs/PoseWithCovarianceStamped]",
"uuid" : "466f0850-00f2-4212-84da-c44a18045976"
},
- {
- "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" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/ego_audio [audio_common_msgs/AudioData]",
- "name" : "anonymous",
- "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/audio/ego_audio [audio_common_msgs/AudioData]",
- "uuid" : "6ee617f3-66ef-447b-93b0-f328fe29ea79"
- },
- {
- "from" : "35d5af59-53e3-466c-874d-89131352c403:/updates",
- "name" : "anonymous",
- "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_arbitrer/update [service]",
- "uuid" : "95706697-e67a-49c7-8da6-e8a11df6234a"
- },
- {
- "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/tracker/tracker_output [std_msgs/String]",
- "name" : "anonymous",
- "to" : "c9b76975-8236-4440-8693-6756fef3990b:/tracker/tracker_output [std_msgs/String]",
- "uuid" : "0cfab282-e78e-48c8-842f-d34e2e5ac484"
- },
{
"from" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3:/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]",
"name" : "anonymous",
@@ -777,28 +699,58 @@
"uuid" : "ae98c50b-a41f-4255-b27e-50c79777a35e"
},
{
- "from" : "aa83a592-d631-44a2-bbaa-f812b8669bc7:/h/g/tracked [hri_msgs/IdList]",
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:gestures",
+ "name" : "anonymous",
+ "to" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:input",
+ "uuid" : "1b666d89-6a0a-46bb-9b96-72e8a7cbe369"
+ },
+ {
+ "from" : "3cf6f1fb-04b3-43fa-b320-b1eb1f81505f:/slam/obstacle_map [OccupancyGrid]",
+ "name" : "anonymous",
+ "to" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44:/slam/obstacle_map [OccupancyGrid]",
+ "uuid" : "b7364a5a-ceb2-443c-af37-2a728c4230de"
+ },
+ {
+ "from" : "9a5658f1-943d-4889-8e2a-0735ee5de159:/look_at [LookAt]",
+ "name" : "anonymous",
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/look_at [LookAt]",
+ "uuid" : "90b73e40-c764-46c4-ac32-abcedc29a818"
+ },
+ {
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
+ "name" : "anonymous",
+ "to" : "9a5658f1-943d-4889-8e2a-0735ee5de159:/controller_status [ControllerStatus]",
+ "uuid" : "42e3806c-f806-45e7-876c-098a97560980"
+ },
+ {
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
+ "name" : "anonymous",
+ "to" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6:/controller_status [ControllerStatus]",
+ "uuid" : "1ef0d26e-d2bf-4fd0-8551-48caf5caa422"
+ },
+ {
+ "from" : "5a0113b6-a999-4339-8e21-44f3b8b3d693:service: /kb/query",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/h/g/tracked",
- "uuid" : "a3ffd70f-2c63-4e9c-8a54-b7256faf5f00"
+ "to" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:kb",
+ "uuid" : "e5fa5fa4-fb7f-4ea7-8a49-de1002a814d9"
},
{
- "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/head_controller/command [JointTrajectory]",
+ "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/ego_audio [audio_common_msgs/AudioData]",
"name" : "anonymous",
- "to" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:input",
- "uuid" : "dbd3d5be-6110-4072-b4f0-b3f95c156d07"
+ "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/audio/ego_audio [audio_common_msgs/AudioData]",
+ "uuid" : "6ee617f3-66ef-447b-93b0-f328fe29ea79"
},
{
- "from" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90:/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:/updates",
"name" : "anonymous",
- "to" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
- "uuid" : "9d1c7d46-8013-4520-b4b4-c1e4aecb1f23"
+ "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_arbitrer/update [service]",
+ "uuid" : "95706697-e67a-49c7-8da6-e8a11df6234a"
},
{
- "from" : "63835655-4d0a-4d5a-9849-365826ee7738:/audio/speaker2/doa [std_msgs/Float32]",
+ "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/tracker/tracker_output [std_msgs/String]",
"name" : "anonymous",
- "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/humans/voices/speaker2/doa [std_msgs/Float32]",
- "uuid" : "3c4f14e2-cb5e-4303-896b-34dbea65c102"
+ "to" : "c9b76975-8236-4440-8693-6756fef3990b:/tracker/tracker_output [std_msgs/String]",
+ "uuid" : "0cfab282-e78e-48c8-842f-d34e2e5ac484"
},
{
"from" : "8dc55dfc-0215-44a1-9795-9255c328b198:/kb/add_fact [std_msgs/String]",
@@ -849,28 +801,34 @@
"uuid" : "4a8ca862-079c-40e4-96a8-231cad8c087f"
},
{
- "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/tracked [hri_msgs/IdsList]",
+ "from" : "2a909616-5a85-49b8-aafb-37daaa76d48c:/experiment_exporter/file_update [String]",
"name" : "anonymous",
- "to" : "49998d33-7c64-4557-b1c9-56b241b59600:/h/v/tracked [hri_msgs/IdsList]",
- "uuid" : "9c2706ae-a494-4a78-a944-834fe7c4d97f"
+ "to" : "d4763e1f-4652-42ee-ae51-b4f2447f4d9a:/experiment_exporter/file_update [String]",
+ "uuid" : "71002a47-5413-4c8b-9210-e987982437d8"
},
{
- "from" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44:/slam/local_map [OccupancyGrid]",
+ "from" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:output?",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/slam/local_map [OccupancyGrid]",
- "uuid" : "56df27e4-afb2-47fa-94cc-39d91d888790"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:input",
+ "uuid" : "c6e06c4e-d9bb-44ca-927d-05258e028480"
},
{
- "from" : "35d5af59-53e3-466c-874d-89131352c403:/queries",
+ "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/tracked [hri_msgs/IdsList]",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/interaction_manager/query [service]",
- "uuid" : "5f958a4f-4e9b-4339-9a4b-bc4184294be4"
+ "to" : "3ff4bbe5-0031-4fd1-af28-cd7bd92c0981:/h/v/tracked [hri_msgs/IdsList]",
+ "uuid" : "0de9cdaa-12f8-47fb-b8b2-cf7fcd27b131"
},
{
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:/get_answer [service]",
+ "from" : "9f0e4a90-79fb-4f15-b769-f539dd6ccc71:/h/b/*/skeleton2d [hri_msg/Skeleton2D]",
"name" : "anonymous",
- "to" : "f845ee2c-4cb3-4cae-bde9-8ac2ba692ee7:/get_answer [service]",
- "uuid" : "492038a0-5169-4175-8684-4105c1b6a884"
+ "to" : "c9b76975-8236-4440-8693-6756fef3990b:/h/b/*/skeleton2d [hri_msg/Skeleton2D]",
+ "uuid" : "e7fb301f-b3ec-424f-aa1f-a764731a9fb5"
+ },
+ {
+ "from" : "409d9526-77ed-4ee3-bae9-ab48381e0b28:/torso_front_camera/color/image_raw [sensor_msgs/Image]",
+ "name" : "anonymous",
+ "to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/front_camera/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]",
+ "uuid" : "f1c595fc-8ada-4453-a680-6ed6bb448ffa"
},
{
"from" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/*_basestation/fisheye/... [sensor_msgs/Image]",
@@ -902,6 +860,30 @@
"to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/register_server [service]",
"uuid" : "1c3ae94e-0f58-4741-8d21-56a6991d1d79"
},
+ {
+ "from" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90:/h/f/*/cropped [sensor_msg/Image]",
+ "name" : "anonymous",
+ "to" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a:/h/f/*/cropped [sensor_msg/Image]",
+ "uuid" : "33633a2c-04a4-42eb-949f-f8bdb137833c"
+ },
+ {
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:/updates",
+ "name" : "anonymous",
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/interaction_manager/update [service]",
+ "uuid" : "a74eee63-bd44-4275-ad4d-eb6431a34a31"
+ },
+ {
+ "from" : "49035386-4f22-41d7-a281-71dcc64592bc:/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]",
+ "name" : "anonymous",
+ "to" : "d715b004-7177-4001-bd9d-725e87789c94:/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]",
+ "uuid" : "db51bf6c-8e11-461a-8e4d-5f51abfb07b2"
+ },
+ {
+ "from" : "57c4f67f-9225-4bdc-9142-f9e92c2cada8:ROS service: pose + covariance",
+ "name" : "anonymous",
+ "to" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:[call HLoc to perform global localization]",
+ "uuid" : "580f1af2-ca26-4839-9c78-54ade7c3d508"
+ },
{
"from" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:/dialogue_say/text [String]",
"name" : "anonymous",
@@ -927,654 +909,561 @@
"uuid" : "76b2d4a7-667c-4821-a30f-7b80d05260ed"
},
{
- "from" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90:/h/f/*/cropped [sensor_msg/Image]",
+ "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/audio/is_listening",
"name" : "anonymous",
- "to" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a:/h/f/*/cropped [sensor_msg/Image]",
- "uuid" : "33633a2c-04a4-42eb-949f-f8bdb137833c"
+ "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/audio/is_listening",
+ "uuid" : "d68ab13d-5adf-4b9a-aa8f-d805df483ebf"
},
{
- "from" : "35d5af59-53e3-466c-874d-89131352c403:/updates",
+ "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:/human_dialogue",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/interaction_manager/update [service]",
- "uuid" : "a74eee63-bd44-4275-ad4d-eb6431a34a31"
+ "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/human_dialogue",
+ "uuid" : "8036c6aa-b132-4290-8c32-3981c2821af5"
},
{
- "from" : "49035386-4f22-41d7-a281-71dcc64592bc:/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]",
+ "from" : "172516ca-a279-42a7-b515-ba2257887296:/humans/candidate_matches [hri_msgs/IdsMatch]",
"name" : "anonymous",
- "to" : "d715b004-7177-4001-bd9d-725e87789c94:/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]",
- "uuid" : "db51bf6c-8e11-461a-8e4d-5f51abfb07b2"
+ "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/humans/candidate_matches [hri_msgs/IdsMatch]",
+ "uuid" : "1831088f-50a4-402b-b940-ecdd59a82868"
},
{
- "from" : "57c4f67f-9225-4bdc-9142-f9e92c2cada8:ROS service: pose + covariance",
+ "from" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3:/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]",
"name" : "anonymous",
- "to" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:[call HLoc to perform global localization]",
- "uuid" : "580f1af2-ca26-4839-9c78-54ade7c3d508"
+ "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]",
+ "uuid" : "beeedb50-f5a6-4096-823d-5d07afadd4ab"
},
{
- "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
+ "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:/task*_ros_server_action [action]",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/controller_status [ControllerStatus]",
- "uuid" : "34a8a7dd-e143-45c5-bbcd-c0176684ad6c"
+ "to" : "35d5af59-53e3-466c-874d-89131352c403:/task*_ros_server_action [action]",
+ "uuid" : "4fbf5aeb-0cec-4f04-9fbf-20ecb50a6477"
},
{
- "from" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:/dialogue_say/text [String]",
+ "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/raw_audio [audio_common_msgs/AudioData]",
"name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/dialogue_say/text",
- "uuid" : "8247d454-c373-4abb-98a7-665e10228244"
- }
- ],
- "description" : "EU H2020 SPRING -- D7.4: Mature Software Architecture",
- "name" : "SPRING architecture",
- "nodes" : [
+ "to" : "63835655-4d0a-4d5a-9849-365826ee7738:/audio/raw_audio [audio_common_msgs/AudioData]",
+ "uuid" : "a9550dcf-8884-4f05-b2ab-8eb9f15f46ed"
+ },
{
- "label" : "BIU",
- "name" : "MOCK: speaker_extraction",
- "ports" : [
- {
- "direction" : "out",
- "name" : "/audio/doa* [std_msgs/Float32]"
- },
- {
- "direction" : "in",
- "name" : "database of voice embeddings"
- },
- {
- "direction" : "out",
- "name" : "/audio/stream* [audio_common_msgs/AudioData]"
- },
- {
- "direction" : "in",
- "name" : "/audio/raw_audio [audio_common_msgs/AudioData]"
- }
- ],
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- "uuid" : "7439ab30-129c-4f3a-9886-149ba213c18c"
+ "from" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:/slam/occupancy_map [OccupancyGrid]",
+ "name" : "anonymous",
+ "to" : "b357b248-d5a8-445d-9c09-5c567d074966:/slam/occupancy_map [OccupancyGrid]",
+ "uuid" : "ec99c998-7fd1-4c29-89c1-4b8fa7e50d02"
},
{
- "label" : "CVUT",
- "name" : "slam_rtabmap",
- "ports" : [
- {
- "direction" : "out",
- "name" : "/slam/occupancy_map [OccupancyGrid]"
- },
- {
- "direction" : "in",
- "name" : "torso_front_camera/infra*/*"
- },
- {
- "direction" : "out",
- "name" : "tf: /odom"
- },
- {
- "direction" : "in",
- "name" : "/torso_front_camera/imu"
- },
- {
- "direction" : "out",
- "name" : "/robot_pose [geometry_msgs/PoseWithCovarianceStamped]"
- },
- {
- "direction" : "in",
- "name" : "[call HLoc to perform global localization]"
- }
- ],
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- "uuid" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe"
+ "from" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90:/h/f/*/cropped [sensor_msg/Image]",
+ "name" : "anonymous",
+ "to" : "e9861836-caed-4c19-87e2-13ba1a380613:/h/f/*/cropped [sensor_msg/Image]",
+ "uuid" : "7d97ba46-a34a-45d0-9166-af338cf70944"
},
{
- "label" : "UNITN",
- "name" : "MOCK: activity_recognition",
- "ports" : [
- {
- "direction" : "out",
- "name" : "[?] output to be defined + added to hri_msgs if possible"
- },
- {
- "direction" : "in",
- "name" : "/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]"
- }
- ],
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- "uuid" : "d715b004-7177-4001-bd9d-725e87789c94"
+ "from" : "c9b76975-8236-4440-8693-6756fef3990b:/humans/bodies/tracked [hri_msgs/IdsList]",
+ "name" : "anonymous",
+ "to" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/humans/bodies/tracked [hri_msgs/IdsList]",
+ "uuid" : "02c0b533-92ac-4444-9bc3-2f68adfd7e03"
},
{
- "label" : "PAL",
- "name" : "torso_rgbd_camera",
- "ports" : [
- {
- "direction" : "out",
- "name" : "pointcloud"
- },
- {
- "direction" : "out",
- "name" : "torso_front_camera/infra*/*"
- },
- {
- "direction" : "out",
- "name" : "/torso_front_camera/imu"
- },
- {
- "direction" : "out",
- "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
- }
- ],
- "position" : [ 160, 1960 ],
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- "sub_architecture" : "0ccd4f8f-abe0-4eae-9d35-d6af509364eb",
- "uuid" : "910781c7-928f-4445-a97b-6fbad208066f"
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/navigation goals",
+ "name" : "anonymous",
+ "to" : "bf22a99b-3b6f-416c-b967-8b4df877a72e:goal",
+ "uuid" : "bbea410d-c31f-43f1-8d37-d7c753dbe7b9"
},
{
- "label" : "BIU",
- "name" : "MOCK: Voice-body matching",
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/navigation goals",
+ "name" : "anonymous",
+ "to" : "2fb3e19c-7562-4c43-bd74-c043a5efec7c:goal",
+ "uuid" : "4f26cca8-7e89-4e50-afad-6039844c7466"
+ },
+ {
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+ "name" : "anonymous",
+ "to" : "9a5658f1-943d-4889-8e2a-0735ee5de159:goal",
+ "uuid" : "4ba10f1b-81be-46c5-8c9f-4071448fce1a"
+ },
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+ "name" : "anonymous",
+ "to" : "4d1289b0-8d15-4c6c-ba82-f4fb9c3f4f17:goal",
+ "uuid" : "ee13926e-e8a8-4dfb-a4c2-25cff58d2f0e"
+ },
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+ "name" : "anonymous",
+ "to" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6:goal",
+ "uuid" : "782a3dc0-ab15-46fd-b807-47205e93b52c"
+ },
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+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/navigation goals",
+ "name" : "anonymous",
+ "to" : "b2cf0310-792d-4753-9e3d-243de1c81bbe:goal",
+ "uuid" : "0dc8a6db-327c-4d2d-9cbf-21d2463b0299"
+ },
+ {
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/navigation goals",
+ "name" : "anonymous",
+ "to" : "c0155b17-15f4-4d86-909b-433fe737cb5f:goal",
+ "uuid" : "f209f60a-c45d-4653-bf06-3427432f6cbf"
+ }
+ ],
+ "description" : "EU H2020 SPRING -- D7.4: Mature Software Architecture",
+ "name" : "SPRING architecture",
+ "nodes" : [
+ {
+ "label" : "HWU",
+ "name" : "interaction_manager",
"ports" : [
- {
- "direction" : "in",
- "name" : "/humans/bodies/tracked"
- },
- {
- "direction" : "in",
- "name" : "/humans/voices/tracked"
+ {
+ "direction" : "out",
+ "name" : "/navigation goals"
},
{
- "direction" : "in",
- "name" : "tf: /body_*"
+ "direction" : "out",
+ "name" : "/dialogue_start"
},
{
"direction" : "in",
- "name" : "tf: /voice_*"
+ "name" : "/dialogue_nlp/nlu [JSON String]"
},
{
"direction" : "out",
- "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
- }
- ],
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- "sub_architecture" : "c5fafc14-fe29-4632-be64-aa233e6c72ee",
- "uuid" : "172516ca-a279-42a7-b515-ba2257887296"
- },
- {
- "label" : "INRIA",
- "name" : "group_detector",
- "ports" : [
+ "name" : "/look_at goals"
+ },
{
- "direction" : "out",
- "name" : "tf: /group_*"
+ "direction" : "in",
+ "name" : "/interaction_manager/update [service]"
},
{
"direction" : "in",
- "name" : "tf: /person_*"
+ "name" : "/interaction_manager/query [service]"
},
{
"direction" : "in",
- "name" : "/h/p/tracked"
+ "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
},
{
"direction" : "out",
- "name" : "/h/g/*/members [hri_msgs/IdList]"
+ "name" : "gestures"
+ },
+ {
+ "direction" : "in",
+ "name" : "input"
},
{
"direction" : "out",
- "name" : "/h/g/tracked [hri_msgs/IdList]"
- }
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- },
- {
- "label" : "ERM",
- "name" : "experiment_exporter",
- "ports" : [
+ "name" : "/task*_ros_server_action [action]"
+ },
{
"direction" : "in",
- "name" : "/dialogue_say/text [String]"
+ "name" : "/controller_status [ControllerStatus]"
},
{
"direction" : "in",
- "name" : "/experiment_exporter/file_update [String]"
+ "name" : "TF"
},
{
"direction" : "in",
- "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
+ "name" : "semantic scene description [ON HOLD]"
},
{
"direction" : "in",
- "name" : "/experiment_exporter/error_feedback [String]"
+ "name" : "/register_server [service]"
}
],
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- "sub_architecture" : "923f34e5-2023-4f02-985d-3e7f472b861f",
- "uuid" : "d4763e1f-4652-42ee-ae51-b4f2447f4d9a"
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+ "size" : [ 400, 760 ],
+ "sub_architecture" : "b87a23ac-d223-4bac-b438-0b16e6e55270",
+ "uuid" : "bc526a14-c5aa-466e-ba5b-30a78b14d672"
},
{
"label" : "UNITN",
- "name" : "face_tracker",
+ "name" : "emotion_estimation",
"ports" : [
{
"direction" : "in",
- "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
- },
- {
- "direction" : "out",
"name" : "/h/f/*/cropped [sensor_msg/Image]"
},
{
"direction" : "out",
- "name" : "/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
- },
- {
- "direction" : "out",
- "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
+ "name" : "/h/f/*/expression [hri_msgs/Expression]"
}
],
- "position" : [ 2280, 1840 ],
- "size" : [ 427, 231 ],
- "uuid" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90"
+ "position" : [ 2740, 2840 ],
+ "size" : [ 600, 140 ],
+ "sub_architecture" : "4beabc83-79c9-482d-8b56-d7f36ed58492",
+ "uuid" : "e9861836-caed-4c19-87e2-13ba1a380613"
},
{
- "label" : "HWU",
- "name" : "dialogue_arbitrer",
+ "label" : "INRIA",
+ "name" : "body_3d_tracker",
"ports" : [
- {
- "direction" : "out",
- "name" : "/get_answer [service]"
- },
- {
- "direction" : "in",
- "name" : "/dialogue_arbitrer/update [service]"
- },
- {
- "direction" : "in",
- "name" : "/dialogue_start [action server]"
- },
{
"direction" : "in",
- "name" : "/dialogue_arbitrer/query [service]"
+ "name" : "/tracker/tracker_output [std_msgs/String]"
},
{
"direction" : "out",
- "name" : "/task*_ros_server_action [action]"
+ "name" : "tf: /body_*"
},
{
"direction" : "in",
- "name" : "/register_server [service]"
- },
- {
- "direction" : "out",
- "name" : "/dialogue_say/say [service]"
+ "name" : "/h/b/*/skeleton2d [hri_msg/Skeleton2D]"
},
{
"direction" : "out",
- "name" : "/human_dialogue"
+ "name" : "/humans/bodies/tracked [hri_msgs/IdsList]"
},
{
"direction" : "in",
- "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
+ "name" : "/front_camera/fisheye/image_raw [sensor_msgs/Image]"
}
],
- "position" : [ 6080, 900 ],
- "size" : [ 400, 340 ],
- "sub_architecture" : "e2ee44b3-4f04-4a27-a947-525fae05035d",
- "uuid" : "9ab39362-e233-44d2-9d06-dd24694446f2"
+ "position" : [ 2860, 1660 ],
+ "size" : [ 460, 200 ],
+ "sub_architecture" : "f6ab2c5c-5c73-439c-9342-fb1bbb24b1da",
+ "uuid" : "c9b76975-8236-4440-8693-6756fef3990b"
},
{
"label" : "PAL",
"name" : "DEPENDENCY: spring_msgs",
- "position" : [ 2700, 3420 ],
+ "position" : [ 6600, 3940 ],
"size" : [ 240, 120 ],
"sub_architecture" : "754b3165-805d-469a-b604-4dfef5453911",
"uuid" : "2e89a11f-a4b0-4b5e-8d72-975d8c47c7f7"
},
{
"label" : "INRIA",
- "name" : "front_fisheye_2d_body_pose_detector",
+ "name" : "go_to_person_action_server",
"ports" : [
{
- "direction" : "out",
- "name" : "/h/b/*/skeleton2d [hri_msg/Skeleton2D]"
+ "direction" : "in",
+ "name" : "goal"
},
{
- "direction" : "in",
- "name" : "/front_camera/fisheye/image_raw [sensor_msgs/Image]"
+ "direction" : "out",
+ "name" : "/go_towards [GoTowards]"
},
{
"direction" : "in",
- "name" : "/tracker/tracker_output [std_msgs/String]"
+ "name" : "/controller_status [ControllerStatus]"
}
],
- "position" : [ 1900, 1120 ],
- "size" : [ 480, 140 ],
- "sub_architecture" : "f15ca40a-1ed5-416f-8467-d1551bf43797",
- "uuid" : "9f0e4a90-79fb-4f15-b769-f539dd6ccc71"
+ "position" : [ 7100, 2340 ],
+ "size" : [ 271.4375, 138 ],
+ "sub_architecture" : "8877ac09-dcf3-4f4b-9462-d7948759a3a3",
+ "uuid" : "bf22a99b-3b6f-416c-b967-8b4df877a72e"
},
{
- "label" : "HWU",
- "name" : "dialogue_nlp",
+ "label" : "INRIA",
+ "name" : "basestation_republisher",
"ports" : [
{
- "direction" : "out",
- "name" : "/dialogue_nlp/nlu [JSON String]"
+ "direction" : "in",
+ "name" : "/torso_front_camera/aligned_depth_to_color/image_raw/theora"
},
{
"direction" : "in",
- "name" : "/get_answer [service]"
- }
- ],
- "position" : [ 6620, 1220 ],
- "size" : [ 280, 120 ],
- "sub_architecture" : "f8c8f093-a1b2-4115-8526-089374b7c119",
- "uuid" : "f845ee2c-4cb3-4cae-bde9-8ac2ba692ee7"
- },
- {
- "label" : "HWU",
- "name" : "social_strategy_supervisor",
- "ports" : [
+ "name" : "/front_camera/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]"
+ },
{
"direction" : "out",
- "name" : "output?"
- }
- ],
- "position" : [ 5640, 2000 ],
- "size" : [ 200, 120 ],
- "sub_architecture" : "02a6c7d9-b0e8-4b4c-a838-56a4990ca96c",
- "uuid" : "a1d01235-a287-4e67-900b-d0e446924e2a"
- },
- {
- "label" : "INRIA",
- "name" : "go_to_position_action_server",
- "ports" : [
- {
- "direction" : "in",
- "name" : "goal"
+ "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
},
{
"direction" : "out",
- "name" : "/go_towards [GoTowards]"
+ "name" : "/*_basestation/fisheye/... [sensor_msgs/Image]"
},
{
"direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
+ "name" : "/torso_front_camera/color/image_raw/theora"
+ },
+ {
+ "direction" : "in",
+ "name" : "/head_front_camera/color/image_raw/compressed"
}
],
- "position" : [ 7340, 1980 ],
- "size" : [ 271, 138 ],
- "sub_architecture" : "cc6bb1c2-c450-4e00-b0d8-b0f0d2048e04",
- "uuid" : "b2cf0310-792d-4753-9e3d-243de1c81bbe"
+ "position" : [ 700, 2200 ],
+ "size" : [ 580, 260 ],
+ "sub_architecture" : "4b6bafeb-e303-4f6b-a7db-cfa8b1fc5a23",
+ "uuid" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3"
},
{
- "label" : "UNITN",
- "name" : "emotion_estimation",
+ "label" : "BIU",
+ "name" : "speaker_separation",
"ports" : [
+ {
+ "direction" : "out",
+ "name" : "/audio/speaker2/doa [std_msgs/Float32]"
+ },
{
"direction" : "in",
- "name" : "/h/f/*/cropped [sensor_msg/Image]"
+ "name" : "/audio/raw_audio [audio_common_msgs/AudioData]"
},
{
"direction" : "out",
- "name" : "/h/f/*/expression [hri_msgs/Expression]"
+ "name" : "/audio/speaker1/doa [std_msgs/Float32]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/audio/speaker1/stream [audio_common_msgs/AudioData]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/audio/speaker2/stream [audio_common_msgs/AudioData]"
}
],
- "position" : [ 4660, 1400 ],
- "size" : [ 480, 180 ],
- "sub_architecture" : "4beabc83-79c9-482d-8b56-d7f36ed58492",
- "uuid" : "e9861836-caed-4c19-87e2-13ba1a380613"
+ "position" : [ 2380, 320 ],
+ "size" : [ 600, 440 ],
+ "sub_architecture" : "ded25e98-4132-4678-bef7-5d0945fdaf78",
+ "uuid" : "63835655-4d0a-4d5a-9849-365826ee7738"
},
{
"label" : "INRIA",
- "name" : "body_3d_tracker",
+ "name" : "go_to_body_action_server",
"ports" : [
{
"direction" : "out",
- "name" : "tf: /body_*"
- },
- {
- "direction" : "in",
- "name" : "/h/b/*/skeleton2d [hri_msg/Skeleton2D]"
+ "name" : "/go_towards [GoTowards]"
},
{
"direction" : "in",
- "name" : "/tracker/tracker_output [std_msgs/String]"
- },
- {
- "direction" : "out",
- "name" : "/humans/bodies/tracked [hri_msgs/IdsList]"
+ "name" : "goal"
},
{
"direction" : "in",
- "name" : "/front_camera/fisheye/image_raw [sensor_msgs/Image]"
+ "name" : "/controller_status [ControllerStatus]"
}
],
- "position" : [ 2540, 1240 ],
- "size" : [ 460, 200 ],
- "sub_architecture" : "f6ab2c5c-5c73-439c-9342-fb1bbb24b1da",
- "uuid" : "c9b76975-8236-4440-8693-6756fef3990b"
+ "position" : [ 7100, 2180 ],
+ "size" : [ 271.4375, 138 ],
+ "sub_architecture" : "afd60208-b9e3-47d6-91db-ff98641995c4",
+ "uuid" : "2fb3e19c-7562-4c43-bd74-c043a5efec7c"
},
{
"label" : "INRIA",
- "name" : "body_to_face_mapper",
+ "name" : "behavior_generator",
"ports" : [
{
"direction" : "in",
- "name" : "/humans/bodies/tracked [hri_msgs/IdsList]"
+ "name" : "/h/b/tracked"
},
{
"direction" : "out",
- "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
+ "name" : "/head_controller/command [JointTrajectory]"
},
{
"direction" : "in",
- "name" : "/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
+ "name" : "/h/p/tracked"
},
{
"direction" : "in",
- "name" : "/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
+ "name" : "/look_at [LookAt]"
},
{
"direction" : "in",
- "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
- }
- ],
- "position" : [ 3480, 1420 ],
- "size" : [ 420, 200 ],
- "sub_architecture" : "4bd1bc1e-a5e1-4db9-9f83-e80c15e56e08",
- "uuid" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8"
- },
- {
- "label" : "UNITN",
- "name" : "DEPENDENCY: wp4_msgs",
- "position" : [ 2980, 3420 ],
- "size" : [ 240, 120 ],
- "sub_architecture" : "af8592a3-f2de-4843-b29d-8868afac79be",
- "uuid" : "b84197a2-d5d2-42d1-942b-27383f14a278"
- },
- {
- "label" : "CVUT",
- "name" : "MOCK: Yolact3D",
- "ports" : [
+ "name" : "/go_towards [GoTowards]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/controller_status"
+ },
{
"direction" : "in",
- "name" : "/slam/occupancy_map [OccupancyGrid]"
+ "name" : "tf: /body_*"
},
{
"direction" : "in",
- "name" : "/torso_front_camera/aligned_depth_to_color [sensor_msgs/Image"
+ "name" : "tf: /person_*"
},
{
"direction" : "in",
- "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
+ "name" : "/navigate [Navigate]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/slam/local_map [OccupancyGrid]"
},
{
"direction" : "out",
- "name" : "/yolact3d/detected_objects_distribution [yolact3d/Yolact3DObjects]"
+ "name" : "tf: /final_point /nav_goal... "
},
{
"direction" : "in",
- "name" : "tf"
+ "name" : "/h/g/tracked"
+ },
+ {
+ "direction" : "out",
+ "name" : "/nav_vel [Twist]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/joint_states"
+ },
+ {
+ "direction" : "in",
+ "name" : "tf: /group_*"
}
],
- "position" : [ 2580, 2900 ],
- "size" : [ 520, 240 ],
- "sub_architecture" : "cc914ac9-9aa0-4b00-8328-f9378e229ae9",
- "uuid" : "b357b248-d5a8-445d-9c09-5c567d074966"
+ "position" : [ 7720, 2300 ],
+ "size" : [ 580, 520 ],
+ "sub_architecture" : "d5ec9783-4c4f-4652-a8bd-b786a1905f48",
+ "uuid" : "328fd73c-ead7-4b87-a815-401958fa77a2"
},
{
- "label" : "INRIA",
- "name" : "go_to_person_action_server",
+ "label" : "HWU",
+ "name" : "dialogue_say",
"ports" : [
{
"direction" : "in",
- "name" : "goal"
+ "name" : "/dialogue_say/say [service]"
},
{
"direction" : "out",
- "name" : "/go_towards [GoTowards]"
+ "name" : "/tts/feedback"
},
{
- "direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
+ "direction" : "out",
+ "name" : "/dialogue_say/text [String]"
}
],
- "position" : [ 7340, 1820 ],
- "size" : [ 271, 138 ],
- "sub_architecture" : "8877ac09-dcf3-4f4b-9462-d7948759a3a3",
- "uuid" : "bf22a99b-3b6f-416c-b967-8b4df877a72e"
+ "position" : [ 6600, 1240 ],
+ "size" : [ 280, 169 ],
+ "sub_architecture" : "c854e5a0-2dbe-4eee-a79b-723d08083339",
+ "uuid" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104"
},
{
- "label" : "UNITN",
- "name" : "mask_detector",
+ "label" : "BIU",
+ "name" : "audio_processing_mode",
"ports" : [
{
"direction" : "out",
- "name" : "/h/f/*/has_mask [wp4_msgs/FaceMask]"
+ "name" : "/audio/enh_audio [spring_msgs/RawAudioData]"
},
{
"direction" : "in",
- "name" : "/h/f/*/cropped [sensor_msg/Image]"
+ "name" : "/audio/raw_audio [spring_msgs/RawAudioData]"
}
],
- "position" : [ 2860, 1960 ],
- "size" : [ 480, 180 ],
- "sub_architecture" : "b343b3de-f4eb-412c-ae93-fca0f090ee5d",
- "uuid" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a"
+ "position" : [ 2380, 20 ],
+ "size" : [ 580, 260 ],
+ "sub_architecture" : "703291ee-d2c9-4f3c-a94c-fb6030dd783e",
+ "uuid" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3"
},
{
- "label" : "INRIA",
- "name" : "pointcloud2occmap",
- "ports" : [
- {
- "direction" : "in",
- "name" : "torso pointcloud"
- },
- {
- "direction" : "out",
- "name" : "/slam/obstacle_map [OccupancyGrid]"
- }
- ],
- "position" : [ 1720, 2580 ],
- "size" : [ 440, 138 ],
- "uuid" : "3cf6f1fb-04b3-43fa-b320-b1eb1f81505f"
+ "label" : "HWU",
+ "name" : "DEPENDENCY: social_scene_msgs",
+ "position" : [ 7900, 3940 ],
+ "size" : [ 280, 120 ],
+ "sub_architecture" : "ed680a03-e715-423d-b567-001b19ca4840",
+ "uuid" : "fdf1f034-d96a-4852-bb69-3934073e6708"
},
{
"label" : "HWU",
- "name" : "dialogue_speech",
+ "name" : "DEPENDENCY: interaction_manager_msgs",
+ "position" : [ 7180, 3940 ],
+ "size" : [ 340, 120 ],
+ "sub_architecture" : "269a1164-ad2d-488c-9b86-b4256faddf9f",
+ "uuid" : "e4ad4076-7fa2-496d-b8ce-0d2c43eca484"
+ },
+ {
+ "label" : "BIU",
+ "name" : "riva_asr_0",
"ports" : [
{
"direction" : "in",
- "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
+ "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/h/v/tracked [hri_msgs/IdsList]"
},
{
"direction" : "out",
- "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
+ "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
}
],
- "position" : [ 5640, 620 ],
- "size" : [ 440, 180 ],
- "sub_architecture" : "257fcacc-ff35-430b-b11f-efd376c496ce",
- "uuid" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3"
+ "position" : [ 4140, 400 ],
+ "size" : [ 540, 169 ],
+ "sub_architecture" : "11d2ee50-fd1e-4664-be3b-1a250ec7d758",
+ "uuid" : "49998d33-7c64-4557-b1c9-56b241b59600"
},
{
- "label" : "CVUT",
- "name" : "HLoc",
+ "label" : "UNITN",
+ "name" : "gaze_estimation",
"ports" : [
- {
- "direction" : "out",
- "name" : "ROS service: pose + covariance"
- },
{
"direction" : "in",
- "name" : "tf: camera frames "
+ "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
},
{
- "direction" : "in",
- "name" : "/robot_pose [geometry_msgs/PoseWithCovarianceStamped]"
+ "direction" : "out",
+ "name" : "GazeFrame [2D point in rgb frame]"
},
{
"direction" : "in",
- "name" : "/front_camera/fisheye/image_raw/compressed"
+ "name" : "/depth_estimation [sensor_msgs/Image]"
},
{
"direction" : "in",
- "name" : "/rear_camera/fisheye/image_raw/compressed"
+ "name" : "/h/f/*/roi [sensor_msgs/RegionOfInterest]"
}
],
- "position" : [ 1700, 3120 ],
- "size" : [ 460, 260 ],
- "sub_architecture" : "11554e14-1e5a-41d0-8604-9f0a4365849b",
- "uuid" : "57c4f67f-9225-4bdc-9142-f9e92c2cada8"
+ "position" : [ 2740, 3000 ],
+ "size" : [ 600, 169 ],
+ "sub_architecture" : "2acb3f97-e06f-4e94-a48f-a3e140ad55fb",
+ "uuid" : "4fbd8427-4d9f-4087-9a30-e7df1c1f69e7"
},
{
- "label" : "BIU",
- "name" : "riva_asr_1",
+ "label" : "ERM",
+ "name" : "robot gui",
"ports" : [
{
"direction" : "in",
- "name" : "/h/v/tracked [hri_msgs/IdsList]"
+ "name" : "/dialogue_say/text"
},
{
"direction" : "in",
- "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
+ "name" : "/audio/is_listening"
},
{
- "direction" : "out",
- "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
+ "direction" : "in",
+ "name" : "/tts/feedback"
+ },
+ {
+ "direction" : "in",
+ "name" : "/human_dialogue"
}
],
- "position" : [ 4980, 660 ],
- "size" : [ 540, 138 ],
- "uuid" : "3ff4bbe5-0031-4fd1-af28-cd7bd92c0981"
+ "position" : [ 7760, 1340 ],
+ "size" : [ 440, 220 ],
+ "sub_architecture" : "8a919bc7-c80b-4325-ac63-d04f2fc1d6bb",
+ "uuid" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d"
},
{
- "label" : "PAL",
- "name" : "fisheye",
+ "label" : "HWU",
+ "name" : "ros_petri_net_node",
"ports" : [
{
- "direction" : "out",
- "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
+ "direction" : "in",
+ "name" : "/RPN [action server]"
}
],
- "position" : [ 180, 1760 ],
- "size" : [ 432, 120 ],
- "sub_architecture" : "9acdd8b9-4805-4239-aec0-8db4d0977e64",
- "uuid" : "409d9526-77ed-4ee3-bae9-ab48381e0b28"
+ "position" : [ 6600, 1660 ],
+ "size" : [ 280, 120 ],
+ "sub_architecture" : "d08a0f04-1e8d-4aa1-b71a-b3bf4597d4e2",
+ "uuid" : "ed36231e-fb0f-45d5-8770-6f8c613f8ca4"
+ },
+ {
+ "label" : "PAL",
+ "name" : "DEPENDENCY: hri_msgs",
+ "position" : [ 6280, 3940 ],
+ "size" : [ 280, 120 ],
+ "sub_architecture" : "7590c224-e846-4f1c-9ecb-0a2992568089",
+ "uuid" : "b5076968-861b-43cb-8bd8-35a5fefebfe4"
},
{
"label" : "UNITN",
"name" : "soft_biometrics_estimator",
"ports" : [
- {
- "direction" : "in",
- "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
- },
{
"direction" : "out",
"name" : "/humans/candidate_matches [hri_msgs/IdsMatch] [face reco]"
@@ -1590,9 +1479,13 @@
{
"direction" : "in",
"name" : "/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
}
],
- "position" : [ 2820, 1720 ],
+ "position" : [ 2740, 2240 ],
"size" : [ 601, 200 ],
"sub_architecture" : "970d1105-d292-4308-b90f-8d8005a781eb",
"uuid" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e"
@@ -1601,10 +1494,6 @@
"label" : "INRIA",
"name" : "occupancy_map_republisher",
"ports" : [
- {
- "direction" : "in",
- "name" : "/slam/obstacle_map [OccupancyGrid]"
- },
{
"direction" : "in",
"name" : "/slam/occupancy_map [OccupancyGrid]"
@@ -1612,9 +1501,13 @@
{
"direction" : "out",
"name" : "/slam/local_map [OccupancyGrid]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/slam/obstacle_map [OccupancyGrid]"
}
],
- "position" : [ 2280, 2660 ],
+ "position" : [ 3780, 3280 ],
"size" : [ 440, 138 ],
"uuid" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44"
},
@@ -1635,353 +1528,432 @@
"name" : "/controller_status [ControllerStatus]"
}
],
- "position" : [ 7340, 1500 ],
- "size" : [ 271, 138 ],
+ "position" : [ 7100, 2020 ],
+ "size" : [ 271.4375, 138 ],
"sub_architecture" : "90d17edc-f200-49f6-adad-5100466d6703",
"uuid" : "c0155b17-15f4-4d86-909b-433fe737cb5f"
},
{
- "label" : "HWU",
- "name" : "DEPENDENCY: social_scene_msgs",
- "position" : [ 4000, 3420 ],
- "size" : [ 280, 120 ],
- "sub_architecture" : "ed680a03-e715-423d-b567-001b19ca4840",
- "uuid" : "fdf1f034-d96a-4852-bb69-3934073e6708"
+ "label" : "UNITN",
+ "name" : "mask_detector",
+ "ports" : [
+ {
+ "direction" : "in",
+ "name" : "/h/f/*/cropped [sensor_msg/Image]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/h/f/*/has_mask [wp4_msgs/FaceMask]"
+ }
+ ],
+ "position" : [ 2740, 2460 ],
+ "size" : [ 600, 160 ],
+ "sub_architecture" : "b343b3de-f4eb-412c-ae93-fca0f090ee5d",
+ "uuid" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a"
},
{
- "label" : "HWU",
- "name" : "DEPENDENCY: interaction_manager_msgs",
- "position" : [ 3280, 3420 ],
- "size" : [ 340, 120 ],
- "sub_architecture" : "269a1164-ad2d-488c-9b86-b4256faddf9f",
- "uuid" : "e4ad4076-7fa2-496d-b8ce-0d2c43eca484"
+ "label" : "INRIA",
+ "name" : "pointcloud2occmap",
+ "ports" : [
+ {
+ "direction" : "in",
+ "name" : "torso pointcloud"
+ },
+ {
+ "direction" : "out",
+ "name" : "/slam/obstacle_map [OccupancyGrid]"
+ }
+ ],
+ "position" : [ 2200, 3280 ],
+ "size" : [ 440, 138 ],
+ "uuid" : "3cf6f1fb-04b3-43fa-b320-b1eb1f81505f"
},
{
"label" : "HWU",
- "name" : "ros_petri_net_node",
+ "name" : "dialogue_nlp",
"ports" : [
{
"direction" : "in",
- "name" : "/RPN [action server]"
+ "name" : "/get_answer [service]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/dialogue_nlp/nlu [JSON String]"
+ }
+ ],
+ "position" : [ 6600, 1480 ],
+ "size" : [ 280, 120 ],
+ "sub_architecture" : "f8c8f093-a1b2-4115-8526-089374b7c119",
+ "uuid" : "f845ee2c-4cb3-4cae-bde9-8ac2ba692ee7"
+ },
+ {
+ "label" : "HWU",
+ "name" : "social_strategy_supervisor",
+ "ports" : [
+ {
+ "direction" : "out",
+ "name" : "output?"
}
],
- "position" : [ 5680, 1180 ],
+ "position" : [ 5560, 2520 ],
"size" : [ 200, 120 ],
- "sub_architecture" : "d08a0f04-1e8d-4aa1-b71a-b3bf4597d4e2",
- "uuid" : "ed36231e-fb0f-45d5-8770-6f8c613f8ca4"
+ "sub_architecture" : "02a6c7d9-b0e8-4b4c-a838-56a4990ca96c",
+ "uuid" : "a1d01235-a287-4e67-900b-d0e446924e2a"
},
{
"label" : "PAL",
- "name" : "DEPENDENCY: hri_msgs",
- "position" : [ 2380, 3420 ],
- "size" : [ 280, 120 ],
- "sub_architecture" : "7590c224-e846-4f1c-9ecb-0a2992568089",
- "uuid" : "b5076968-861b-43cb-8bd8-35a5fefebfe4"
+ "name" : "raspicam",
+ "ports" : [
+ {
+ "direction" : "out",
+ "name" : "/head_front_camera/color/image_raw [sensor_msgs/Image]"
+ }
+ ],
+ "position" : [ 40, 2260 ],
+ "size" : [ 430.0625, 120 ],
+ "sub_architecture" : "cf447604-0976-4fc3-ad4e-a135fa8ba454",
+ "uuid" : "a284bd3a-0273-4d81-89ce-bc8d042b2674"
},
{
"label" : "INRIA",
- "name" : "go_to_body_action_server",
+ "name" : "look_at_action_server",
"ports" : [
{
- "direction" : "out",
- "name" : "/go_towards [GoTowards]"
+ "direction" : "in",
+ "name" : "/controller_status [ControllerStatus]"
},
{
"direction" : "in",
"name" : "goal"
},
{
- "direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
+ "direction" : "out",
+ "name" : "/look_at [LookAt]"
}
],
- "position" : [ 7340, 1660 ],
- "size" : [ 271, 138 ],
- "sub_architecture" : "afd60208-b9e3-47d6-91db-ff98641995c4",
- "uuid" : "2fb3e19c-7562-4c43-bd74-c043a5efec7c"
+ "position" : [ 7100, 2980 ],
+ "size" : [ 271.4375, 138 ],
+ "sub_architecture" : "a5174b81-fea1-4d89-bfe5-7c909fcb134f",
+ "uuid" : "4d1289b0-8d15-4c6c-ba82-f4fb9c3f4f17"
},
{
- "label" : "BIU",
- "name" : "riva_asr_0",
+ "label" : "PAL",
+ "name" : "people_facts",
"ports" : [
{
"direction" : "in",
- "name" : "/h/v/tracked [hri_msgs/IdsList]"
+ "name" : "/h/p/..."
},
{
"direction" : "out",
- "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
- },
- {
- "direction" : "in",
- "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
+ "name" : "/kb/add_fact [std_msgs/String]"
}
],
- "position" : [ 4980, 480 ],
- "size" : [ 540, 169 ],
- "sub_architecture" : "11d2ee50-fd1e-4664-be3b-1a250ec7d758",
- "uuid" : "49998d33-7c64-4557-b1c9-56b241b59600"
+ "position" : [ 4580, 1920 ],
+ "size" : [ 240, 240 ],
+ "sub_architecture" : "bfea9558-3b6a-44a6-a8ae-75c1e679ff48",
+ "uuid" : "8dc55dfc-0215-44a1-9795-9255c328b198"
},
{
- "label" : "HWU",
- "name" : "dialogue_say",
+ "label" : "INRIA",
+ "name" : "look_at_position_action_server",
"ports" : [
{
"direction" : "in",
- "name" : "/dialogue_say/say [service]"
+ "name" : "/controller_status [ControllerStatus]"
},
{
- "direction" : "out",
- "name" : "/tts/feedback"
+ "direction" : "in",
+ "name" : "goal"
},
{
"direction" : "out",
- "name" : "/dialogue_say/text [String]"
+ "name" : "/navigate [Navigate]"
}
],
- "position" : [ 6720, 720 ],
- "size" : [ 280, 169 ],
- "sub_architecture" : "c854e5a0-2dbe-4eee-a79b-723d08083339",
- "uuid" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104"
+ "position" : [ 7100, 2660 ],
+ "size" : [ 271.4375, 138 ],
+ "sub_architecture" : "ba99bc77-6bde-403a-97f5-223132fb109a",
+ "uuid" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6"
},
{
"label" : "BIU",
- "name" : "speaker_separation",
+ "name" : "speakers_id",
"ports" : [
{
"direction" : "out",
- "name" : "/audio/speaker2/doa [std_msgs/Float32]"
+ "name" : "tf: /voice_*"
},
{
"direction" : "out",
- "name" : "/audio/speaker1/doa [std_msgs/Float32]"
+ "name" : "/audio/vad"
},
{
"direction" : "out",
- "name" : "/audio/speaker1/stream [audio_common_msgs/AudioData]"
+ "name" : "/h/v/known [hri_msgs/IdsList]"
},
{
"direction" : "out",
- "name" : "/audio/speaker2/stream [audio_common_msgs/AudioData]"
+ "name" : "/h/v/*/is_speaking [std_msgs/Bool]"
},
{
"direction" : "in",
- "name" : "/audio/raw_audio [audio_common_msgs/AudioData]"
- }
- ],
- "position" : [ 3220, 400 ],
- "size" : [ 600, 440 ],
- "sub_architecture" : "ded25e98-4132-4678-bef7-5d0945fdaf78",
- "uuid" : "63835655-4d0a-4d5a-9849-365826ee7738"
- },
- {
- "label" : "UNITN",
- "name" : "gaze_estimation",
- "ports" : [
+ "name" : "/humans/voices/speaker2/stream [audio_common_msgs/AudioData]"
+ },
{
- "direction" : "in",
- "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
+ "direction" : "out",
+ "name" : "/h/v/*/doa [std_msgs/Float32]"
},
{
"direction" : "out",
- "name" : "GazeFrame [2D point in rgb frame]"
+ "name" : "/h/v/tracked [hri_msgs/IdsList]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/audio/is_listening"
},
{
"direction" : "in",
- "name" : "/depth_estimation [sensor_msgs/Image]"
+ "name" : "/humans/voices/speaker1/doa [std_msgs/Float32]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
},
{
"direction" : "in",
- "name" : "/h/f/*/roi [sensor_msgs/RegionOfInterest]"
- }
- ],
- "position" : [ 2860, 2420 ],
- "size" : [ 500, 169 ],
- "sub_architecture" : "2acb3f97-e06f-4e94-a48f-a3e140ad55fb",
- "uuid" : "4fbd8427-4d9f-4087-9a30-e7df1c1f69e7"
- },
- {
- "label" : "HWU",
- "name" : "DEPENDENCY: audio_msgs",
- "position" : [ 4320, 3420 ],
- "size" : [ 340, 120 ],
- "sub_architecture" : "88aec3fc-6d19-455e-96fc-303c6aaab831",
- "uuid" : "19d263e5-e380-457f-84ba-67b9a4b3ce0b"
- },
- {
- "label" : "PAL",
- "name" : "Robot functional layer",
- "ports" : [
+ "name" : "/humans/voices/speaker2/doa [std_msgs/Float32]"
+ },
{
"direction" : "in",
- "name" : "input"
+ "name" : "/audio/ego_audio [audio_common_msgs/AudioData]"
},
{
- "direction" : "out",
- "name" : "/joint_states"
+ "direction" : "in",
+ "name" : "/humans/voices/speaker1/stream [audio_common_msgs/AudioData]"
}
],
- "position" : [ 8780, 2120 ],
- "size" : [ 240, 120 ],
- "sub_architecture" : "69547d1d-f0ba-4ebf-b19b-f8cc5e63fd36",
- "uuid" : "20eb61ac-3243-41ed-b855-451cd88e4ae5"
+ "position" : [ 3060, 320 ],
+ "size" : [ 760, 448 ],
+ "sub_architecture" : "77ebd1d1-7f1e-47b7-8a26-4328c95c817a",
+ "uuid" : "23a0d365-d60b-45d7-b229-a04bed5e41bb"
},
{
- "label" : "BIU",
- "name" : "audio_processing_mode",
+ "label" : "UNITN",
+ "name" : "human_2d_pose_estimation",
"ports" : [
{
"direction" : "out",
- "name" : "/audio/enh_audio [spring_msgs/RawAudioData]"
+ "name" : "/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]"
},
{
"direction" : "in",
- "name" : "/audio/raw_audio [spring_msgs/RawAudioData]"
+ "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
}
],
- "position" : [ 3240, 100 ],
- "size" : [ 580, 260 ],
- "sub_architecture" : "703291ee-d2c9-4f3c-a94c-fb6030dd783e",
- "uuid" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3"
+ "position" : [ 2740, 2640 ],
+ "size" : [ 600, 180 ],
+ "sub_architecture" : "6a63c8f2-ccf1-434f-807e-1c0570ccdbc4",
+ "uuid" : "49035386-4f22-41d7-a281-71dcc64592bc"
},
{
- "label" : "INRIA",
- "name" : "basestation_republisher",
+ "label" : "HWU",
+ "name" : "social_state_analyzer",
"ports" : [
{
"direction" : "in",
- "name" : "/torso_front_camera/aligned_depth_to_color/image_raw/theora"
- },
- {
- "direction" : "in",
- "name" : "/front_camera/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]"
+ "name" : "kb"
},
{
"direction" : "out",
- "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
+ "name" : "output?"
},
{
- "direction" : "out",
- "name" : "/*_basestation/fisheye/... [sensor_msgs/Image]"
- },
+ "direction" : "in",
+ "name" : "/humans/persons/tracked"
+ }
+ ],
+ "position" : [ 5560, 2340 ],
+ "size" : [ 199.5, 138 ],
+ "sub_architecture" : "4f0b2a37-97ff-46ee-aff2-77001218ba31",
+ "uuid" : "3dc083e8-26cc-448f-ae1e-25263c9f066f"
+ },
+ {
+ "label" : "PAL",
+ "name" : "knowledge_core",
+ "ports" : [
{
"direction" : "in",
- "name" : "/torso_front_camera/color/image_raw/theora"
+ "name" : "/kb/add_fact [std_msgs/String]"
},
{
- "direction" : "in",
- "name" : "/head_front_camera/color/image_raw/compressed"
+ "direction" : "out",
+ "name" : "service: /kb/query"
}
],
- "position" : [ 780, 1680 ],
- "size" : [ 580, 260 ],
- "sub_architecture" : "4b6bafeb-e303-4f6b-a7db-cfa8b1fc5a23",
- "uuid" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3"
+ "position" : [ 4880, 1920 ],
+ "size" : [ 360, 240 ],
+ "sub_architecture" : "15ec41b7-dcd6-4504-88c5-5eb6b80899f2",
+ "uuid" : "5a0113b6-a999-4339-8e21-44f3b8b3d693"
},
{
"label" : "ERM",
- "name" : "robot gui",
+ "name" : "exp_gui",
"ports" : [
{
- "direction" : "in",
- "name" : "/audio/is_listening"
+ "direction" : "out",
+ "name" : "/dialogue_start/goal [dialogue_msgs/StartDialogueActionGoal] "
},
{
"direction" : "in",
- "name" : "/dialogue_say/text"
+ "name" : "/dialogue_start/status"
},
{
"direction" : "in",
- "name" : "/tts/feedback"
+ "name" : "/diagnostics"
+ },
+ {
+ "direction" : "out",
+ "name" : "/dialogue_arbiter/reset [Empty]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/interaction_manager/start [Empty]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/web/go_to [pal_web_msgs/WebGoTo]"
},
{
"direction" : "in",
- "name" : "/human_dialogue"
+ "name" : "/slam/localization_pose"
+ },
+ {
+ "direction" : "out",
+ "name" : "/experiment_exporter/error_feedback [String]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/experiment_exporter/file_update [String]"
}
],
- "position" : [ 7320, 880 ],
- "size" : [ 440, 220 ],
- "sub_architecture" : "8a919bc7-c80b-4325-ac63-d04f2fc1d6bb",
- "uuid" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d"
+ "position" : [ 7040, 620 ],
+ "size" : [ 580, 324 ],
+ "sub_architecture" : "68debd5e-9e7a-486c-a58e-d553009e0cb3",
+ "uuid" : "2a909616-5a85-49b8-aafb-37daaa76d48c"
},
{
- "label" : "INRIA",
- "name" : "behavior_generator",
+ "label" : "CVUT",
+ "name" : "slam_rtabmap",
"ports" : [
- {
- "direction" : "in",
- "name" : "/h/b/tracked"
- },
{
"direction" : "out",
- "name" : "tf: /final_point /nav_goal... "
+ "name" : "/slam/occupancy_map [OccupancyGrid]"
},
{
"direction" : "in",
- "name" : "/h/g/tracked"
+ "name" : "torso_front_camera/infra*/*"
},
{
"direction" : "out",
- "name" : "/nav_vel [Twist]"
+ "name" : "tf: /odom"
+ },
+ {
+ "direction" : "in",
+ "name" : "/torso_front_camera/imu"
},
{
"direction" : "out",
- "name" : "/head_controller/command [JointTrajectory]"
+ "name" : "/robot_pose [geometry_msgs/PoseWithCovarianceStamped]"
},
{
"direction" : "in",
- "name" : "/joint_states"
+ "name" : "[call HLoc to perform global localization]"
+ }
+ ],
+ "position" : [ 2200, 3800 ],
+ "size" : [ 436.34375, 231 ],
+ "sub_architecture" : "046d668f-a787-4753-ab2f-c2b04f922ad0",
+ "uuid" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe"
+ },
+ {
+ "label" : "UNITN",
+ "name" : "MOCK: activity_recognition",
+ "ports" : [
+ {
+ "direction" : "out",
+ "name" : "[?] output to be defined + added to hri_msgs if possible"
},
{
"direction" : "in",
- "name" : "tf: /group_*"
- },
+ "name" : "/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]"
+ }
+ ],
+ "position" : [ 3500, 2720 ],
+ "size" : [ 520, 160 ],
+ "sub_architecture" : "96cd31ae-5485-40db-8b27-b5a09888f810",
+ "uuid" : "d715b004-7177-4001-bd9d-725e87789c94"
+ },
+ {
+ "label" : "PAL",
+ "name" : "torso_rgbd_camera",
+ "ports" : [
{
- "direction" : "in",
- "name" : "/h/p/tracked"
+ "direction" : "out",
+ "name" : "pointcloud"
},
{
- "direction" : "in",
- "name" : "/look_at [LookAt]"
+ "direction" : "out",
+ "name" : "torso_front_camera/infra*/*"
},
{
- "direction" : "in",
- "name" : "/go_towards [GoTowards]"
+ "direction" : "out",
+ "name" : "/torso_front_camera/imu"
},
{
"direction" : "out",
- "name" : "/controller_status"
- },
+ "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
+ }
+ ],
+ "position" : [ 40, 2400 ],
+ "size" : [ 432.421875, 169 ],
+ "sub_architecture" : "0ccd4f8f-abe0-4eae-9d35-d6af509364eb",
+ "uuid" : "910781c7-928f-4445-a97b-6fbad208066f"
+ },
+ {
+ "label" : "BIU",
+ "name" : "MOCK: Voice-body matching",
+ "ports" : [
{
"direction" : "in",
- "name" : "tf: /body_*"
+ "name" : "/humans/bodies/tracked"
},
{
"direction" : "in",
- "name" : "tf: /person_*"
+ "name" : "/humans/voices/tracked"
},
{
"direction" : "in",
- "name" : "/navigate [Navigate]"
+ "name" : "tf: /body_*"
},
{
"direction" : "in",
- "name" : "/slam/local_map [OccupancyGrid]"
+ "name" : "tf: /voice_*"
+ },
+ {
+ "direction" : "out",
+ "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
}
],
- "position" : [ 7960, 1780 ],
- "size" : [ 580, 510 ],
- "sub_architecture" : "d5ec9783-4c4f-4652-a8bd-b786a1905f48",
- "uuid" : "328fd73c-ead7-4b87-a815-401958fa77a2"
+ "position" : [ 4140, 860 ],
+ "size" : [ 498, 200 ],
+ "sub_architecture" : "c5fafc14-fe29-4632-be64-aa233e6c72ee",
+ "uuid" : "172516ca-a279-42a7-b515-ba2257887296"
},
{
"label" : "INRIA",
"name" : "front_fisheye_body_tracker",
"ports" : [
- {
- "direction" : "out",
- "name" : ""
- },
{
"direction" : "in",
"name" : "/front_camera_basetation/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]"
@@ -1990,6 +1962,10 @@
"direction" : "out",
"name" : "/h/b/*/cropped [sensor_msgs/Image]"
},
+ {
+ "direction" : "out",
+ "name" : ""
+ },
{
"direction" : "out",
"name" : "/tracker/tracker_output [std_msgs/String]"
@@ -1999,370 +1975,449 @@
"name" : "/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
}
],
- "position" : [ 1040, 1180 ],
+ "position" : [ 1360, 1600 ],
"size" : [ 680, 200 ],
"sub_architecture" : "d0367ed7-2b45-4244-9507-538e7767127f",
"uuid" : "d609252f-2fd4-4439-86c3-ece9fd387a3a"
},
{
"label" : "PAL",
- "name" : "hri_person_manager",
+ "name" : "respeaker_ros",
"ports" : [
{
"direction" : "out",
- "name" : "/h/p/..."
+ "name" : "/audio/raw_audio [audio_common_msgs/AudioData]"
},
{
"direction" : "out",
+ "name" : "/audio/ego_audio [audio_common_msgs/AudioData]"
+ }
+ ],
+ "position" : [ 1600, 400 ],
+ "size" : [ 400, 120 ],
+ "sub_architecture" : "b96ac6ba-08a0-4df0-8341-206c356f7c87",
+ "uuid" : "3e7d7601-34c6-4975-9e36-f50968f141b2"
+ },
+ {
+ "label" : "INRIA",
+ "name" : "group_detector",
+ "ports" : [
+ {
+ "direction" : "out",
+ "name" : "tf: /group_*"
+ },
+ {
+ "direction" : "in",
"name" : "tf: /person_*"
},
+ {
+ "direction" : "in",
+ "name" : "/h/p/tracked"
+ },
{
"direction" : "out",
- "name" : "/h/p/tracked [hri_msgs/IdsList]"
+ "name" : "/h/g/*/members [hri_msgs/IdList]"
},
{
- "direction" : "in",
- "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
+ "direction" : "out",
+ "name" : "/h/g/tracked [hri_msgs/IdList]"
}
],
- "position" : [ 4140, 1440 ],
- "size" : [ 360, 520 ],
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+ "uuid" : "aa83a592-d631-44a2-bbaa-f812b8669bc7"
},
{
- "label" : "PAL",
- "name" : "respeaker_ros",
+ "label" : "INRIA",
+ "name" : "front_fisheye_2d_body_pose_detector",
"ports" : [
{
"direction" : "out",
- "name" : "/audio/raw_audio [audio_common_msgs/AudioData]"
+ "name" : "/h/b/*/skeleton2d [hri_msg/Skeleton2D]"
},
{
- "direction" : "out",
- "name" : "/audio/ego_audio [audio_common_msgs/AudioData]"
+ "direction" : "in",
+ "name" : "/tracker/tracker_output [std_msgs/String]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/front_camera/fisheye/image_raw [sensor_msgs/Image]"
}
],
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+ "uuid" : "9f0e4a90-79fb-4f15-b769-f539dd6ccc71"
},
{
- "label" : "HWU",
- "name" : "recipe_planner",
+ "label" : "PAL",
+ "name" : "fisheye",
"ports" : [
- {
- "direction" : "in",
- "name" : "PDDL yaml library"
- },
- {
- "direction" : "out",
- "name" : "/queries"
- },
{
"direction" : "out",
- "name" : "/updates"
- },
+ "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
+ }
+ ],
+ "position" : [ 40, 2120 ],
+ "size" : [ 432.421875, 120 ],
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+ "uuid" : "409d9526-77ed-4ee3-bae9-ab48381e0b28"
+ },
+ {
+ "label" : "CVUT",
+ "name" : "HLoc",
+ "ports" : [
{
"direction" : "out",
- "name" : "/RPN [action]"
+ "name" : "ROS service: pose + covariance"
},
{
"direction" : "in",
- "name" : "semantic scene description"
+ "name" : "tf: camera frames "
},
{
- "direction" : "out",
- "name" : "/register_server [service]"
+ "direction" : "in",
+ "name" : "/robot_pose [geometry_msgs/PoseWithCovarianceStamped]"
},
{
"direction" : "in",
- "name" : "/task*_ros_server_action [action]"
+ "name" : "/front_camera/fisheye/image_raw/compressed"
},
{
"direction" : "in",
- "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
+ "name" : "/rear_camera/fisheye/image_raw/compressed"
}
],
- "position" : [ 5240, 880 ],
- "size" : [ 400, 293 ],
- "sub_architecture" : "9ff15583-a3c7-439b-a578-91ea4afac364",
- "uuid" : "35d5af59-53e3-466c-874d-89131352c403"
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+ "uuid" : "57c4f67f-9225-4bdc-9142-f9e92c2cada8"
},
{
"label" : "INRIA",
- "name" : "look_at_person_server",
+ "name" : "body_to_face_mapper",
"ports" : [
{
"direction" : "in",
- "name" : "goal"
+ "name" : "/humans/bodies/tracked [hri_msgs/IdsList]"
},
{
"direction" : "out",
- "name" : "/look_at [LookAt]"
+ "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
},
{
"direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
+ "name" : "/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
}
],
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- "sub_architecture" : "28912232-55a1-48ad-bb37-c99b7f1ad079",
- "uuid" : "9a5658f1-943d-4889-8e2a-0735ee5de159"
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+ "uuid" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8"
},
{
- "label" : "HWU",
- "name" : "DEPENDENCY: robot_behaviour_msgs",
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- "size" : [ 300, 120 ],
- "sub_architecture" : "9d93f431-05b6-4ee4-88ea-8bb60a01611f",
- "uuid" : "ef2aa285-f20c-40de-a0fe-b4bb37a9ee8a"
+ "label" : "UNITN",
+ "name" : "DEPENDENCY: wp4_msgs",
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+ "size" : [ 240, 120 ],
+ "sub_architecture" : "af8592a3-f2de-4843-b29d-8868afac79be",
+ "uuid" : "b84197a2-d5d2-42d1-942b-27383f14a278"
},
{
- "label" : "UNITN",
- "name" : "depth_estimation",
+ "label" : "HWU",
+ "name" : "dialogue_speech",
"ports" : [
{
"direction" : "in",
- "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
+ "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
},
{
"direction" : "out",
- "name" : "/depth_estimation [sensor_msgs/Image]"
+ "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
}
],
- "position" : [ 2080, 2400 ],
- "size" : [ 601, 160 ],
- "sub_architecture" : "bc0aa7fa-7aef-44a0-8cd1-48e4a3e87e7b",
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+ "uuid" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3"
},
{
- "label" : "HWU",
- "name" : "interaction_manager",
+ "label" : "BIU",
+ "name" : "riva_asr_1",
"ports" : [
{
- "direction" : "out",
- "name" : "/navigation goals"
+ "direction" : "in",
+ "name" : "/h/v/tracked [hri_msgs/IdsList]"
},
{
"direction" : "out",
- "name" : "gestures"
+ "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
},
{
"direction" : "in",
- "name" : "input"
+ "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
+ }
+ ],
+ "position" : [ 4140, 580 ],
+ "size" : [ 540, 138 ],
+ "sub_architecture" : "23b514b9-a56c-461e-9dc0-7da9dd15e0fe",
+ "uuid" : "3ff4bbe5-0031-4fd1-af28-cd7bd92c0981"
+ },
+ {
+ "label" : "INRIA",
+ "name" : "go_to_position_action_server",
+ "ports" : [
+ {
+ "direction" : "out",
+ "name" : "/go_towards [GoTowards]"
},
{
"direction" : "in",
"name" : "/controller_status [ControllerStatus]"
},
+ {
+ "direction" : "in",
+ "name" : "goal"
+ }
+ ],
+ "position" : [ 7100, 2500 ],
+ "size" : [ 271.4375, 138 ],
+ "sub_architecture" : "cc6bb1c2-c450-4e00-b0d8-b0f0d2048e04",
+ "uuid" : "b2cf0310-792d-4753-9e3d-243de1c81bbe"
+ },
+ {
+ "label" : "BIU",
+ "name" : "MOCK: speaker_extraction",
+ "ports" : [
+ {
+ "direction" : "in",
+ "name" : "database of voice embeddings"
+ },
+ {
+ "direction" : "out",
+ "name" : "/audio/stream* [audio_common_msgs/AudioData]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/audio/raw_audio [audio_common_msgs/AudioData]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/audio/doa* [std_msgs/Float32]"
+ }
+ ],
+ "position" : [ 2380, 800 ],
+ "size" : [ 1440, 180 ],
+ "sub_architecture" : "9a662d15-0e9a-4d34-bf73-ab087206578f",
+ "uuid" : "7439ab30-129c-4f3a-9886-149ba213c18c"
+ },
+ {
+ "label" : "HWU",
+ "name" : "dialogue_arbitrer",
+ "ports" : [
+ {
+ "direction" : "out",
+ "name" : "/dialogue_say/say [service]"
+ },
{
"direction" : "out",
- "name" : "/task*_ros_server_action [action]"
+ "name" : "/human_dialogue"
},
{
"direction" : "in",
- "name" : "semantic scene description [ON HOLD]"
+ "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
},
{
"direction" : "in",
- "name" : "TF"
+ "name" : "/dialogue_arbitrer/update [service]"
},
{
"direction" : "in",
- "name" : "/register_server [service]"
+ "name" : "/dialogue_start [action server]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/dialogue_arbitrer/query [service]"
},
{
"direction" : "out",
- "name" : "/dialogue_start"
+ "name" : "/task*_ros_server_action [action]"
},
{
"direction" : "in",
- "name" : "/dialogue_nlp/nlu [JSON String]"
+ "name" : "/register_server [service]"
},
{
"direction" : "out",
- "name" : "/look_at goals"
+ "name" : "/get_answer [service]"
+ }
+ ],
+ "position" : [ 6020, 1180 ],
+ "size" : [ 400, 340 ],
+ "sub_architecture" : "e2ee44b3-4f04-4a27-a947-525fae05035d",
+ "uuid" : "9ab39362-e233-44d2-9d06-dd24694446f2"
+ },
+ {
+ "label" : "ERM",
+ "name" : "experiment_exporter",
+ "ports" : [
+ {
+ "direction" : "in",
+ "name" : "/dialogue_say/text [String]"
},
{
"direction" : "in",
- "name" : "/interaction_manager/update [service]"
+ "name" : "/experiment_exporter/file_update [String]"
},
{
"direction" : "in",
- "name" : "/interaction_manager/query [service]"
+ "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
},
{
"direction" : "in",
- "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
+ "name" : "/experiment_exporter/error_feedback [String]"
}
],
- "position" : [ 6320, 1480 ],
- "size" : [ 440, 760 ],
- "sub_architecture" : "b87a23ac-d223-4bac-b438-0b16e6e55270",
- "uuid" : "bc526a14-c5aa-466e-ba5b-30a78b14d672"
+ "position" : [ 7780, 960 ],
+ "size" : [ 456, 293 ],
+ "sub_architecture" : "923f34e5-2023-4f02-985d-3e7f472b861f",
+ "uuid" : "d4763e1f-4652-42ee-ae51-b4f2447f4d9a"
},
{
- "label" : "PAL",
- "name" : "people_facts",
+ "label" : "CVUT",
+ "name" : "MOCK: Yolact3D",
"ports" : [
{
"direction" : "in",
- "name" : "/h/p/..."
+ "name" : "/torso_front_camera/aligned_depth_to_color [sensor_msgs/Image"
},
- {
- "direction" : "out",
- "name" : "/kb/add_fact [std_msgs/String]"
- }
- ],
- "position" : [ 4660, 2020 ],
- "size" : [ 240, 180 ],
- "sub_architecture" : "bfea9558-3b6a-44a6-a8ae-75c1e679ff48",
- "uuid" : "8dc55dfc-0215-44a1-9795-9255c328b198"
- },
- {
- "label" : "INRIA",
- "name" : "look_at_position_action_server",
- "ports" : [
{
"direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
+ "name" : "/slam/occupancy_map [OccupancyGrid]"
},
{
"direction" : "out",
- "name" : "/navigate [Navigate]"
+ "name" : "/yolact3d/detected_objects_distribution [yolact3d/Yolact3DObjects]"
},
{
"direction" : "in",
- "name" : "goal"
- }
- ],
- "position" : [ 7340, 2140 ],
- "size" : [ 271, 138 ],
- "sub_architecture" : "ba99bc77-6bde-403a-97f5-223132fb109a",
- "uuid" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6"
- },
- {
- "label" : "PAL",
- "name" : "raspicam",
- "ports" : [
+ "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
+ },
{
- "direction" : "out",
- "name" : "/head_front_camera/color/image_raw [sensor_msgs/Image]"
+ "direction" : "in",
+ "name" : "tf"
}
],
- "position" : [ 180, 2180 ],
- "size" : [ 440, 120 ],
- "sub_architecture" : "cf447604-0976-4fc3-ad4e-a135fa8ba454",
- "uuid" : "a284bd3a-0273-4d81-89ce-bc8d042b2674"
+ "position" : [ 3780, 3580 ],
+ "size" : [ 520, 240 ],
+ "sub_architecture" : "cc914ac9-9aa0-4b00-8328-f9378e229ae9",
+ "uuid" : "b357b248-d5a8-445d-9c09-5c567d074966"
},
{
- "label" : "BIU",
- "name" : "speakers_id",
+ "label" : "UNITN",
+ "name" : "face_tracker",
"ports" : [
- {
- "direction" : "in",
- "name" : "/humans/voices/speaker1/stream [audio_common_msgs/AudioData]"
- },
{
"direction" : "out",
- "name" : "tf: /voice_*"
+ "name" : "/h/f/*/cropped [sensor_msg/Image]"
},
{
- "direction" : "out",
- "name" : "/audio/vad"
+ "direction" : "in",
+ "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
},
{
"direction" : "out",
- "name" : "/h/v/known [hri_msgs/IdsList]"
+ "name" : "/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
},
{
"direction" : "out",
- "name" : "/h/v/*/is_speaking [std_msgs/Bool]"
- },
+ "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
+ }
+ ],
+ "position" : [ 1920, 2300 ],
+ "size" : [ 427.578125, 231 ],
+ "uuid" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90"
+ },
+ {
+ "label" : "PAL",
+ "name" : "hri_person_manager",
+ "ports" : [
{
"direction" : "in",
- "name" : "/humans/voices/speaker2/stream [audio_common_msgs/AudioData]"
+ "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
},
{
"direction" : "out",
- "name" : "/h/v/*/doa [std_msgs/Float32]"
+ "name" : "tf: /person_*"
},
{
- "direction" : "in",
- "name" : "/humans/voices/speaker1/doa [std_msgs/Float32]"
+ "direction" : "out",
+ "name" : "/h/p/..."
},
{
"direction" : "out",
- "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
- },
+ "name" : "/h/p/tracked [hri_msgs/IdsList]"
+ }
+ ],
+ "position" : [ 4080, 2080 ],
+ "size" : [ 360.953125, 380 ],
+ "sub_architecture" : "1f5e18f3-1be0-4e21-a3e1-439a597fe002",
+ "uuid" : "43da963c-18a8-4ad7-86f6-f361a9d25d36"
+ },
+ {
+ "label" : "HWU",
+ "name" : "recipe_planner",
+ "ports" : [
{
- "direction" : "in",
- "name" : "/humans/voices/speaker2/doa [std_msgs/Float32]"
+ "direction" : "out",
+ "name" : "/queries"
},
{
"direction" : "out",
- "name" : "/h/v/tracked [hri_msgs/IdsList]"
+ "name" : "/updates"
},
{
"direction" : "out",
- "name" : "/audio/is_listening"
+ "name" : "/RPN [action]"
},
{
"direction" : "in",
- "name" : "/audio/ego_audio [audio_common_msgs/AudioData]"
- }
- ],
- "position" : [ 3900, 400 ],
- "size" : [ 760, 440 ],
- "sub_architecture" : "77ebd1d1-7f1e-47b7-8a26-4328c95c817a",
- "uuid" : "23a0d365-d60b-45d7-b229-a04bed5e41bb"
- },
- {
- "label" : "INRIA",
- "name" : "look_at_action_server",
- "ports" : [
+ "name" : "semantic scene description"
+ },
{
"direction" : "out",
- "name" : "/look_at [LookAt]"
+ "name" : "/register_server [service]"
},
{
"direction" : "in",
- "name" : "goal"
+ "name" : "/task*_ros_server_action [action]"
},
{
"direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
- }
- ],
- "position" : [ 7340, 2460 ],
- "size" : [ 271, 138 ],
- "sub_architecture" : "a5174b81-fea1-4d89-bfe5-7c909fcb134f",
- "uuid" : "4d1289b0-8d15-4c6c-ba82-f4fb9c3f4f17"
- },
- {
- "label" : "PAL",
- "name" : "knowledge_core",
- "ports" : [
- {
- "direction" : "in",
- "name" : "/kb/add_fact [std_msgs/String]"
+ "name" : "PDDL yaml library"
},
{
- "direction" : "out",
- "name" : "service: /kb/query"
+ "direction" : "in",
+ "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
}
],
- "position" : [ 4960, 2100 ],
- "size" : [ 350, 231 ],
- "sub_architecture" : "15ec41b7-dcd6-4504-88c5-5eb6b80899f2",
- "uuid" : "5a0113b6-a999-4339-8e21-44f3b8b3d693"
+ "position" : [ 6020, 1540 ],
+ "size" : [ 400, 293 ],
+ "sub_architecture" : "9ff15583-a3c7-439b-a578-91ea4afac364",
+ "uuid" : "35d5af59-53e3-466c-874d-89131352c403"
},
{
"label" : "UNITN",
- "name" : "human_2d_pose_estimation",
+ "name" : "depth_estimation",
"ports" : [
{
"direction" : "in",
@@ -2370,81 +2425,69 @@
},
{
"direction" : "out",
- "name" : "/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]"
+ "name" : "/depth_estimation [sensor_msgs/Image]"
}
],
- "position" : [ 2860, 2160 ],
- "size" : [ 520, 200 ],
- "sub_architecture" : "6a63c8f2-ccf1-434f-807e-1c0570ccdbc4",
- "uuid" : "49035386-4f22-41d7-a281-71dcc64592bc"
+ "position" : [ 1940, 2980 ],
+ "size" : [ 460, 140 ],
+ "sub_architecture" : "bc0aa7fa-7aef-44a0-8cd1-48e4a3e87e7b",
+ "uuid" : "633be9cd-9f1b-4cdd-b708-a1edd3742842"
},
{
- "label" : "HWU",
- "name" : "social_state_analyzer",
+ "label" : "INRIA",
+ "name" : "look_at_person_server",
"ports" : [
{
"direction" : "in",
- "name" : "kb"
+ "name" : "goal"
},
{
"direction" : "out",
- "name" : "output?"
+ "name" : "/look_at [LookAt]"
},
{
"direction" : "in",
- "name" : "/humans/persons/tracked"
+ "name" : "/controller_status [ControllerStatus]"
}
],
- "position" : [ 5640, 1820 ],
- "size" : [ 199, 138 ],
- "sub_architecture" : "4f0b2a37-97ff-46ee-aff2-77001218ba31",
- "uuid" : "3dc083e8-26cc-448f-ae1e-25263c9f066f"
+ "position" : [ 7100, 2820 ],
+ "size" : [ 271.4375, 138 ],
+ "sub_architecture" : "28912232-55a1-48ad-bb37-c99b7f1ad079",
+ "uuid" : "9a5658f1-943d-4889-8e2a-0735ee5de159"
},
{
- "label" : "ERM",
- "name" : "exp_gui",
+ "label" : "HWU",
+ "name" : "DEPENDENCY: robot_behaviour_msgs",
+ "position" : [ 7560, 3940 ],
+ "size" : [ 300, 120 ],
+ "sub_architecture" : "9d93f431-05b6-4ee4-88ea-8bb60a01611f",
+ "uuid" : "ef2aa285-f20c-40de-a0fe-b4bb37a9ee8a"
+ },
+ {
+ "label" : "HWU",
+ "name" : "DEPENDENCY: audio_msgs",
+ "position" : [ 8220, 3940 ],
+ "size" : [ 340, 120 ],
+ "sub_architecture" : "88aec3fc-6d19-455e-96fc-303c6aaab831",
+ "uuid" : "19d263e5-e380-457f-84ba-67b9a4b3ce0b"
+ },
+ {
+ "label" : "PAL",
+ "name" : "Robot functional layer",
"ports" : [
- {
- "direction" : "out",
- "name" : "/dialogue_start/goal [dialogue_msgs/StartDialogueActionGoal] "
- },
- {
- "direction" : "in",
- "name" : "/dialogue_start/status"
- },
- {
- "direction" : "in",
- "name" : "/diagnostics"
- },
- {
- "direction" : "out",
- "name" : "/dialogue_arbiter/reset [Empty]"
- },
- {
- "direction" : "out",
- "name" : "/interaction_manager/start [Empty]"
- },
- {
- "direction" : "out",
- "name" : "/web/go_to [pal_web_msgs/WebGoTo]"
- },
{
"direction" : "in",
- "name" : "/slam/localization_pose"
- },
- {
- "direction" : "out",
- "name" : "/experiment_exporter/error_feedback [String]"
+ "name" : "input"
},
{
"direction" : "out",
- "name" : "/experiment_exporter/file_update [String]"
+ "name" : "/joint_states"
}
],
- "position" : [ 6600, 160 ],
- "size" : [ 580, 324 ],
- "sub_architecture" : "68debd5e-9e7a-486c-a58e-d553009e0cb3",
- "uuid" : "2a909616-5a85-49b8-aafb-37daaa76d48c"
+ "position" : [ 8440, 2300 ],
+ "size" : [ 240, 520 ],
+ "sub_architecture" : "69547d1d-f0ba-4ebf-b19b-f8cc5e63fd36",
+ "uuid" : "20eb61ac-3243-41ed-b855-451cd88e4ae5"
}
],
"uuid" : "234f40f3-f9bb-4d69-8121-aec26ac8c228",