From 3fae39c5664d3af46a5ea8e3c418051747b41fd0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?S=C3=A9verin=20Lemaignan?=
<severin.lemaignan@pal-robotics.com>
Date: Wed, 17 Nov 2021 20:27:47 +0100
Subject: [PATCH] [ros] re-generated nodes with boxology 1.1.0. Includes
publishers/subscribers when known
---
spring-mock-ws/fetch_released_nodes.sh | 11 +-
.../src/activityreco/CMakeLists.txt | 1 +
spring-mock-ws/src/activityreco/package.xml | 4 +-
spring-mock-ws/src/activityreco/src/main.cpp | 60 ++++--
spring-mock-ws/src/asr/CMakeLists.txt | 1 +
spring-mock-ws/src/asr/package.xml | 4 +-
spring-mock-ws/src/asr/src/main.cpp | 54 ++++--
spring-mock-ws/src/body2dpose/CMakeLists.txt | 1 +
spring-mock-ws/src/body2dpose/package.xml | 4 +-
spring-mock-ws/src/body2dpose/src/main.cpp | 60 ++++--
.../src/demographics/CMakeLists.txt | 1 +
spring-mock-ws/src/demographics/package.xml | 4 +-
spring-mock-ws/src/demographics/src/main.cpp | 54 ++++--
.../src/dialoguemanager/CMakeLists.txt | 1 +
.../src/dialoguemanager/package.xml | 4 +-
.../src/dialoguemanager/src/main.cpp | 62 +++++--
.../src/facedetection/CMakeLists.txt | 1 +
spring-mock-ws/src/facedetection/package.xml | 4 +-
spring-mock-ws/src/facedetection/src/main.cpp | 54 ++++--
.../src/facerecognition/CMakeLists.txt | 1 +
.../src/facerecognition/package.xml | 4 +-
.../src/facerecognition/src/main.cpp | 54 ++++--
spring-mock-ws/src/fformation/CMakeLists.txt | 2 +
spring-mock-ws/src/fformation/package.xml | 5 +-
spring-mock-ws/src/fformation/src/main.cpp | 48 +++--
.../src/fisheyestereorgbhead/CMakeLists.txt | 1 +
.../src/fisheyestereorgbhead/package.xml | 4 +-
.../src/fisheyestereorgbhead/src/main.cpp | 48 +++--
.../src/highlevelplanner/CMakeLists.txt | 1 +
.../src/highlevelplanner/package.xml | 4 +-
.../src/highlevelplanner/src/main.cpp | 76 ++++++--
.../src/interactionmanager/CMakeLists.txt | 1 +
.../src/interactionmanager/package.xml | 4 +-
.../src/interactionmanager/src/main.cpp | 92 ++++++++--
.../src/maskdetection/CMakeLists.txt | 1 +
spring-mock-ws/src/maskdetection/package.xml | 4 +-
spring-mock-ws/src/maskdetection/src/main.cpp | 54 ++++--
.../src/multipeopletracker/CMakeLists.txt | 1 +
.../src/multipeopletracker/package.xml | 4 +-
.../src/multipeopletracker/src/main.cpp | 54 ++++--
.../src/nonverbalbehaviours/CMakeLists.txt | 1 +
.../src/nonverbalbehaviours/package.xml | 4 +-
.../src/nonverbalbehaviours/src/main.cpp | 66 +++++--
.../CMakeLists.txt | 1 +
.../package.xml | 4 +-
.../src/main.cpp | 54 ++++--
.../src/occupancymap/CMakeLists.txt | 1 +
spring-mock-ws/src/occupancymap/package.xml | 4 +-
spring-mock-ws/src/occupancymap/src/main.cpp | 60 ++++--
spring-mock-ws/src/orbslam/CMakeLists.txt | 2 +
spring-mock-ws/src/orbslam/package.xml | 5 +-
spring-mock-ws/src/orbslam/src/main.cpp | 53 ++++--
.../src/people3dtracker/CMakeLists.txt | 2 +
.../src/people3dtracker/package.xml | 5 +-
.../src/people3dtracker/src/main.cpp | 65 +++++--
.../src/personmanager/CMakeLists.txt | 2 +
spring-mock-ws/src/personmanager/package.xml | 5 +-
spring-mock-ws/src/personmanager/src/main.cpp | 73 ++++++--
.../src/rgbdcamera_info/CMakeLists.txt | 1 +
.../src/rgbdcamera_info/package.xml | 4 +-
.../src/rgbdcamera_info/src/main.cpp | 48 +++--
.../src/robotfunctionallayer/CMakeLists.txt | 1 +
.../src/robotfunctionallayer/package.xml | 4 +-
.../src/robotfunctionallayer/src/main.cpp | 52 ++++--
spring-mock-ws/src/robotgui/CMakeLists.txt | 1 +
spring-mock-ws/src/robotgui/package.xml | 4 +-
spring-mock-ws/src/robotgui/src/main.cpp | 70 +++++--
.../robotnonverbalbehaviours/CMakeLists.txt | 1 +
.../src/robotnonverbalbehaviours/package.xml | 4 +-
.../src/robotnonverbalbehaviours/src/main.cpp | 80 ++++++--
.../src/robotutterances/CMakeLists.txt | 1 +
.../src/robotutterances/package.xml | 4 +-
.../src/robotutterances/src/main.cpp | 54 ++++--
spring-mock-ws/src/rosopenpose/CMakeLists.txt | 1 +
spring-mock-ws/src/rosopenpose/package.xml | 4 +-
spring-mock-ws/src/rosopenpose/src/main.cpp | 54 ++++--
.../src/sceneunderstanding/CMakeLists.txt | 1 +
.../src/sceneunderstanding/package.xml | 4 +-
.../src/sceneunderstanding/src/main.cpp | 54 ++++--
.../src/semanticmapping/CMakeLists.txt | 1 +
.../src/semanticmapping/package.xml | 4 +-
.../src/semanticmapping/src/main.cpp | 60 ++++--
.../src/soundlocalisation/CMakeLists.txt | 2 +
.../src/soundlocalisation/package.xml | 5 +-
.../src/soundlocalisation/src/main.cpp | 53 ++++--
.../src/speakerrecognition/CMakeLists.txt | 1 +
.../src/speakerrecognition/package.xml | 4 +-
.../src/speakerrecognition/src/main.cpp | 54 ++++--
.../src/speechdiarization/CMakeLists.txt | 1 +
.../src/speechdiarization/package.xml | 4 +-
.../src/speechdiarization/src/main.cpp | 54 ++++--
.../src/speechsynthesis/CMakeLists.txt | 1 +
.../src/speechsynthesis/package.xml | 4 +-
.../src/speechsynthesis/src/main.cpp | 54 ++++--
.../src/springarchitecture/CMakeLists.txt | 54 +++---
.../launch/start_all.launch | 173 +++++++-----------
.../launch/start_all_but_BIU.launch | 153 +++++++---------
.../launch/start_all_but_CVUT.launch | 149 ++++++---------
.../launch/start_all_but_ERM.launch | 164 +++++++----------
.../launch/start_all_but_HWU.launch | 144 ++++++---------
.../launch/start_all_but_INRIA.launch | 144 ++++++---------
.../launch/start_all_but_Other.launch | 173 +++++++-----------
.../launch/start_all_but_PAL.launch | 138 ++++++--------
.../launch/start_all_but_UNITN.launch | 122 +++++-------
.../src/springarchitecture/package.xml | 56 +++---
.../src/userattention/CMakeLists.txt | 1 +
spring-mock-ws/src/userattention/package.xml | 4 +-
spring-mock-ws/src/userattention/src/main.cpp | 80 ++++++--
spring-mock-ws/src/usergaze/CMakeLists.txt | 1 +
spring-mock-ws/src/usergaze/package.xml | 4 +-
spring-mock-ws/src/usergaze/src/main.cpp | 60 ++++--
.../src/visualslam3dmap/CMakeLists.txt | 2 +
.../src/visualslam3dmap/package.xml | 5 +-
.../src/visualslam3dmap/src/main.cpp | 61 ++++--
114 files changed, 2075 insertions(+), 1617 deletions(-)
diff --git a/spring-mock-ws/fetch_released_nodes.sh b/spring-mock-ws/fetch_released_nodes.sh
index 35a9c64..a69c353 100644
--- a/spring-mock-ws/fetch_released_nodes.sh
+++ b/spring-mock-ws/fetch_released_nodes.sh
@@ -3,5 +3,12 @@
# This script clone all the SPRING ROS nodes that are marked as released in the
# architecture design.
-echo "Cloning respeaker_ros (ROS node: respeaker_ros), branch: master to src/ ..."
-git clone --depth 1 --branch master https://gitlab.inria.fr/spring/wp7_ari/respeaker_ros.git src/respeaker_ros
+if cd src/respeaker_ros;
+then
+ echo "respeaker_ros: pulling latest changes from master...";
+ git pull origin master;
+else
+
+ echo "Cloning respeaker_ros (ROS node: respeaker_ros), branch: master to src/ ..."
+ git clone --depth 1 --branch master https://gitlab.inria.fr/spring/wp7_ari/respeaker_ros.git src/respeaker_ros;
+fi
diff --git a/spring-mock-ws/src/activityreco/CMakeLists.txt b/spring-mock-ws/src/activityreco/CMakeLists.txt
index a23b15a..6ee05ee 100644
--- a/spring-mock-ws/src/activityreco/CMakeLists.txt
+++ b/spring-mock-ws/src/activityreco/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/activityreco/package.xml b/spring-mock-ws/src/activityreco/package.xml
index 052673b..a181589 100644
--- a/spring-mock-ws/src/activityreco/package.xml
+++ b/spring-mock-ws/src/activityreco/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>activityreco</name>
<version>1.0.0</version>
- <description>Activity reco (UNITN) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Activity reco (UNITN) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/activityreco/src/main.cpp b/spring-mock-ws/src/activityreco/src/main.cpp
index fc579ad..095c233 100644
--- a/spring-mock-ws/src/activityreco/src/main.cpp
+++ b/spring-mock-ws/src/activityreco/src/main.cpp
@@ -1,34 +1,54 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "activityreco");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void tfbodiesCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("activityreco: received message: " << msg);
+}
+void gazedirectionCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("activityreco: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "activityreco");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber tfbodies_sub = n.subscribe("tfbodies", 1, tfbodiesCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber gazedirection_sub = n.subscribe("gazedirection", 1, gazedirectionCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher output_pub = n.advertise<std_msgs::Empty>("output", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node activityreco launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/asr/CMakeLists.txt b/spring-mock-ws/src/asr/CMakeLists.txt
index ba82bc6..e40a4bd 100644
--- a/spring-mock-ws/src/asr/CMakeLists.txt
+++ b/spring-mock-ws/src/asr/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/asr/package.xml b/spring-mock-ws/src/asr/package.xml
index d957de0..27262c5 100644
--- a/spring-mock-ws/src/asr/package.xml
+++ b/spring-mock-ws/src/asr/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>asr</name>
<version>1.0.0</version>
- <description>ASR (BIU) . Auto-generated by Boxology 1.0.0.</description>
+ <description>ASR (BIU) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/asr/src/main.cpp b/spring-mock-ws/src/asr/src/main.cpp
index 5bc95a6..c9e9c90 100644
--- a/spring-mock-ws/src/asr/src/main.cpp
+++ b/spring-mock-ws/src/asr/src/main.cpp
@@ -1,34 +1,48 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "asr");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("asr: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "asr");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber input_sub = n.subscribe("input", 1, inputCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher hvvoiceidspeech_pub = n.advertise<std_msgs::Empty>("hvvoiceidspeech", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node asr launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/body2dpose/CMakeLists.txt b/spring-mock-ws/src/body2dpose/CMakeLists.txt
index f203404..4c34e3d 100644
--- a/spring-mock-ws/src/body2dpose/CMakeLists.txt
+++ b/spring-mock-ws/src/body2dpose/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/body2dpose/package.xml b/spring-mock-ws/src/body2dpose/package.xml
index cfc9b4d..ea09a52 100644
--- a/spring-mock-ws/src/body2dpose/package.xml
+++ b/spring-mock-ws/src/body2dpose/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>body2dpose</name>
<version>1.0.0</version>
- <description>Body 2D pose (UNITN) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Body 2D pose (UNITN) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/body2dpose/src/main.cpp b/spring-mock-ws/src/body2dpose/src/main.cpp
index 5190c03..83230de 100644
--- a/spring-mock-ws/src/body2dpose/src/main.cpp
+++ b/spring-mock-ws/src/body2dpose/src/main.cpp
@@ -1,34 +1,54 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "body2dpose");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void imagesCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("body2dpose: received message: " << msg);
+}
+void bodyroisCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("body2dpose: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "body2dpose");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber images_sub = n.subscribe("images", 1, imagesCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber bodyrois_sub = n.subscribe("bodyrois", 1, bodyroisCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher hbbodyidskel2d_pub = n.advertise<std_msgs::Empty>("hbbodyidskel2d", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node body2dpose launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/demographics/CMakeLists.txt b/spring-mock-ws/src/demographics/CMakeLists.txt
index 29ae288..0e44c6d 100644
--- a/spring-mock-ws/src/demographics/CMakeLists.txt
+++ b/spring-mock-ws/src/demographics/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/demographics/package.xml b/spring-mock-ws/src/demographics/package.xml
index 747158e..2ed4b32 100644
--- a/spring-mock-ws/src/demographics/package.xml
+++ b/spring-mock-ws/src/demographics/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>demographics</name>
<version>1.0.0</version>
- <description>Demographics (UNITN) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Demographics (UNITN) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/demographics/src/main.cpp b/spring-mock-ws/src/demographics/src/main.cpp
index b81cf66..3494027 100644
--- a/spring-mock-ws/src/demographics/src/main.cpp
+++ b/spring-mock-ws/src/demographics/src/main.cpp
@@ -1,34 +1,48 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "demographics");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void facesCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("demographics: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "demographics");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber faces_sub = n.subscribe("faces", 1, facesCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher hffaceiddemographics_pub = n.advertise<std_msgs::Empty>("hffaceiddemographics", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node demographics launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/dialoguemanager/CMakeLists.txt b/spring-mock-ws/src/dialoguemanager/CMakeLists.txt
index 404f1ed..e39948e 100644
--- a/spring-mock-ws/src/dialoguemanager/CMakeLists.txt
+++ b/spring-mock-ws/src/dialoguemanager/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/dialoguemanager/package.xml b/spring-mock-ws/src/dialoguemanager/package.xml
index 135823a..227a407 100644
--- a/spring-mock-ws/src/dialoguemanager/package.xml
+++ b/spring-mock-ws/src/dialoguemanager/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>dialoguemanager</name>
<version>1.0.0</version>
- <description>Dialogue manager (HWU) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Dialogue manager (HWU) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/dialoguemanager/src/main.cpp b/spring-mock-ws/src/dialoguemanager/src/main.cpp
index 2c01aa6..7a9de56 100644
--- a/spring-mock-ws/src/dialoguemanager/src/main.cpp
+++ b/spring-mock-ws/src/dialoguemanager/src/main.cpp
@@ -1,34 +1,56 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "dialoguemanager");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void interactionmessagesCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("dialoguemanager: received message: " << msg);
+}
+void speechCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("dialoguemanager: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "dialoguemanager");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber interactionmessages_sub = n.subscribe("interactionmessages", 1, interactionmessagesCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber speech_sub = n.subscribe("speech", 1, speechCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher dialoguestate_pub = n.advertise<std_msgs::Empty>("dialoguestate", 1);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher nextutterance_pub = n.advertise<std_msgs::Empty>("nextutterance", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node dialoguemanager launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/facedetection/CMakeLists.txt b/spring-mock-ws/src/facedetection/CMakeLists.txt
index afa7c2f..487d64c 100644
--- a/spring-mock-ws/src/facedetection/CMakeLists.txt
+++ b/spring-mock-ws/src/facedetection/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/facedetection/package.xml b/spring-mock-ws/src/facedetection/package.xml
index 5790d1f..3ecd5da 100644
--- a/spring-mock-ws/src/facedetection/package.xml
+++ b/spring-mock-ws/src/facedetection/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>facedetection</name>
<version>1.0.0</version>
- <description>Face detection (UNITN) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Face detection (UNITN) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/facedetection/src/main.cpp b/spring-mock-ws/src/facedetection/src/main.cpp
index cef41b3..b911b8b 100644
--- a/spring-mock-ws/src/facedetection/src/main.cpp
+++ b/spring-mock-ws/src/facedetection/src/main.cpp
@@ -1,34 +1,48 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "facedetection");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void imagesCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("facedetection: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "facedetection");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber images_sub = n.subscribe("images", 1, imagesCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher hffaceidroi_pub = n.advertise<std_msgs::Empty>("hffaceidroi", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node facedetection launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/facerecognition/CMakeLists.txt b/spring-mock-ws/src/facerecognition/CMakeLists.txt
index 7bf582c..72206f7 100644
--- a/spring-mock-ws/src/facerecognition/CMakeLists.txt
+++ b/spring-mock-ws/src/facerecognition/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/facerecognition/package.xml b/spring-mock-ws/src/facerecognition/package.xml
index ae68035..6ac3355 100644
--- a/spring-mock-ws/src/facerecognition/package.xml
+++ b/spring-mock-ws/src/facerecognition/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>facerecognition</name>
<version>1.0.0</version>
- <description>Face recognition (UNITN) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Face recognition (UNITN) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/facerecognition/src/main.cpp b/spring-mock-ws/src/facerecognition/src/main.cpp
index cfb6a83..bb1301a 100644
--- a/spring-mock-ws/src/facerecognition/src/main.cpp
+++ b/spring-mock-ws/src/facerecognition/src/main.cpp
@@ -1,34 +1,48 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "facerecognition");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void facesCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("facerecognition: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "facerecognition");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber faces_sub = n.subscribe("faces", 1, facesCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher personid_pub = n.advertise<std_msgs::Empty>("personid", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node facerecognition launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/fformation/CMakeLists.txt b/spring-mock-ws/src/fformation/CMakeLists.txt
index 0538e11..a18b716 100644
--- a/spring-mock-ws/src/fformation/CMakeLists.txt
+++ b/spring-mock-ws/src/fformation/CMakeLists.txt
@@ -10,6 +10,8 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ tf
+ hri_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/fformation/package.xml b/spring-mock-ws/src/fformation/package.xml
index a6d688f..bac7ba0 100644
--- a/spring-mock-ws/src/fformation/package.xml
+++ b/spring-mock-ws/src/fformation/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>fformation</name>
<version>1.0.0</version>
- <description>F-formation (UNITN) . Auto-generated by Boxology 1.0.0.</description>
+ <description>F-formation (UNITN) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,9 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>tf</depend>
+ <depend>hri_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/fformation/src/main.cpp b/spring-mock-ws/src/fformation/src/main.cpp
index 1fc08d2..44c366e 100644
--- a/spring-mock-ws/src/fformation/src/main.cpp
+++ b/spring-mock-ws/src/fformation/src/main.cpp
@@ -1,34 +1,42 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "fformation");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "tf/transform_listener.h"
+#include "hri_msgs/GroupsStamped.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "fformation");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
- ros::spinOnce();
+ ros::Publisher groups_pub = n.advertise<hri_msgs::GroupsStamped>("groups", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node fformation launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/fisheyestereorgbhead/CMakeLists.txt b/spring-mock-ws/src/fisheyestereorgbhead/CMakeLists.txt
index 34cba70..4ee9c6c 100644
--- a/spring-mock-ws/src/fisheyestereorgbhead/CMakeLists.txt
+++ b/spring-mock-ws/src/fisheyestereorgbhead/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/fisheyestereorgbhead/package.xml b/spring-mock-ws/src/fisheyestereorgbhead/package.xml
index 33c2461..f508130 100644
--- a/spring-mock-ws/src/fisheyestereorgbhead/package.xml
+++ b/spring-mock-ws/src/fisheyestereorgbhead/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>fisheyestereorgbhead</name>
<version>1.0.0</version>
- <description>Fisheye stereo + RGB head (PAL) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Fisheye stereo + RGB head (PAL) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/fisheyestereorgbhead/src/main.cpp b/spring-mock-ws/src/fisheyestereorgbhead/src/main.cpp
index 731ded8..a1a1bfa 100644
--- a/spring-mock-ws/src/fisheyestereorgbhead/src/main.cpp
+++ b/spring-mock-ws/src/fisheyestereorgbhead/src/main.cpp
@@ -1,34 +1,42 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "fisheyestereorgbhead");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "fisheyestereorgbhead");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher images_pub = n.advertise<std_msgs::Empty>("images", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node fisheyestereorgbhead launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/highlevelplanner/CMakeLists.txt b/spring-mock-ws/src/highlevelplanner/CMakeLists.txt
index b69b7b3..2d8426c 100644
--- a/spring-mock-ws/src/highlevelplanner/CMakeLists.txt
+++ b/spring-mock-ws/src/highlevelplanner/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/highlevelplanner/package.xml b/spring-mock-ws/src/highlevelplanner/package.xml
index c405f90..2bf1de2 100644
--- a/spring-mock-ws/src/highlevelplanner/package.xml
+++ b/spring-mock-ws/src/highlevelplanner/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>highlevelplanner</name>
<version>1.0.0</version>
- <description>High-level planner (HWU) . Auto-generated by Boxology 1.0.0.</description>
+ <description>High-level planner (HWU) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/highlevelplanner/src/main.cpp b/spring-mock-ws/src/highlevelplanner/src/main.cpp
index d54c894..6923cd1 100644
--- a/spring-mock-ws/src/highlevelplanner/src/main.cpp
+++ b/spring-mock-ws/src/highlevelplanner/src/main.cpp
@@ -1,34 +1,70 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "highlevelplanner");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void dialoguestateCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("highlevelplanner: received message: " << msg);
+}
+void tfpersonsCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("highlevelplanner: received message: " << msg);
+}
+void demographicsCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("highlevelplanner: received message: " << msg);
+}
+void semanticscenedescriptionCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("highlevelplanner: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "highlevelplanner");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber dialoguestate_sub = n.subscribe("dialoguestate", 1, dialoguestateCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber tfpersons_sub = n.subscribe("tfpersons", 1, tfpersonsCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber demographics_sub = n.subscribe("demographics", 1, demographicsCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber semanticscenedescription_sub = n.subscribe("semanticscenedescription", 1, semanticscenedescriptionCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher interactionstate_pub = n.advertise<std_msgs::Empty>("interactionstate", 1);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher output_pub = n.advertise<std_msgs::Empty>("output", 1);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher navgoals_pub = n.advertise<std_msgs::Empty>("navgoals", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node highlevelplanner launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/interactionmanager/CMakeLists.txt b/spring-mock-ws/src/interactionmanager/CMakeLists.txt
index 3697c50..3e12074 100644
--- a/spring-mock-ws/src/interactionmanager/CMakeLists.txt
+++ b/spring-mock-ws/src/interactionmanager/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/interactionmanager/package.xml b/spring-mock-ws/src/interactionmanager/package.xml
index 21b027d..8a6a094 100644
--- a/spring-mock-ws/src/interactionmanager/package.xml
+++ b/spring-mock-ws/src/interactionmanager/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>interactionmanager</name>
<version>1.0.0</version>
- <description>Interaction manager (HWU) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Interaction manager (HWU) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/interactionmanager/src/main.cpp b/spring-mock-ws/src/interactionmanager/src/main.cpp
index 5c2b6ae..23d7999 100644
--- a/spring-mock-ws/src/interactionmanager/src/main.cpp
+++ b/spring-mock-ws/src/interactionmanager/src/main.cpp
@@ -1,34 +1,86 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "interactionmanager");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("interactionmanager: received message: " << msg);
+}
+void hppersonidCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("interactionmanager: received message: " << msg);
+}
+void tfCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("interactionmanager: received message: " << msg);
+}
+void semanticscenedescriptionCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("interactionmanager: received message: " << msg);
+}
+void dialoguestateCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("interactionmanager: received message: " << msg);
+}
+void robotstateCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("interactionmanager: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "interactionmanager");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber input_sub = n.subscribe("input", 1, inputCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber hppersonid_sub = n.subscribe("hppersonid", 1, hppersonidCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber tf_sub = n.subscribe("tf", 1, tfCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber semanticscenedescription_sub = n.subscribe("semanticscenedescription", 1, semanticscenedescriptionCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber dialoguestate_sub = n.subscribe("dialoguestate", 1, dialoguestateCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber robotstate_sub = n.subscribe("robotstate", 1, robotstateCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher activepersonid_pub = n.advertise<std_msgs::Empty>("activepersonid", 1);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher verbalcommand_pub = n.advertise<std_msgs::Empty>("verbalcommand", 1);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher gestures_pub = n.advertise<std_msgs::Empty>("gestures", 1);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher whotolookat_pub = n.advertise<std_msgs::Empty>("whotolookat", 1);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher navgoals_pub = n.advertise<std_msgs::Empty>("navgoals", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node interactionmanager launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/maskdetection/CMakeLists.txt b/spring-mock-ws/src/maskdetection/CMakeLists.txt
index 388ac58..c8a41da 100644
--- a/spring-mock-ws/src/maskdetection/CMakeLists.txt
+++ b/spring-mock-ws/src/maskdetection/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/maskdetection/package.xml b/spring-mock-ws/src/maskdetection/package.xml
index 348deae..69d0dd8 100644
--- a/spring-mock-ws/src/maskdetection/package.xml
+++ b/spring-mock-ws/src/maskdetection/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>maskdetection</name>
<version>1.0.0</version>
- <description>Mask detection (UNITN) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Mask detection (UNITN) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/maskdetection/src/main.cpp b/spring-mock-ws/src/maskdetection/src/main.cpp
index 65bebdf..e7d813d 100644
--- a/spring-mock-ws/src/maskdetection/src/main.cpp
+++ b/spring-mock-ws/src/maskdetection/src/main.cpp
@@ -1,34 +1,48 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "maskdetection");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void facesCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("maskdetection: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "maskdetection");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber faces_sub = n.subscribe("faces", 1, facesCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher hffaceidmask_pub = n.advertise<std_msgs::Empty>("hffaceidmask", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node maskdetection launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/multipeopletracker/CMakeLists.txt b/spring-mock-ws/src/multipeopletracker/CMakeLists.txt
index 76eb73f..5c92026 100644
--- a/spring-mock-ws/src/multipeopletracker/CMakeLists.txt
+++ b/spring-mock-ws/src/multipeopletracker/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/multipeopletracker/package.xml b/spring-mock-ws/src/multipeopletracker/package.xml
index e7e837a..80249ab 100644
--- a/spring-mock-ws/src/multipeopletracker/package.xml
+++ b/spring-mock-ws/src/multipeopletracker/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>multipeopletracker</name>
<version>1.0.0</version>
- <description>Multi-people tracker (INRIA) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Multi-people tracker (INRIA) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/multipeopletracker/src/main.cpp b/spring-mock-ws/src/multipeopletracker/src/main.cpp
index d2a12bf..1c20142 100644
--- a/spring-mock-ws/src/multipeopletracker/src/main.cpp
+++ b/spring-mock-ws/src/multipeopletracker/src/main.cpp
@@ -1,34 +1,48 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "multipeopletracker");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void imagesCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("multipeopletracker: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "multipeopletracker");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber images_sub = n.subscribe("images", 1, imagesCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher hbbodyidroi_pub = n.advertise<std_msgs::Empty>("hbbodyidroi", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node multipeopletracker launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/nonverbalbehaviours/CMakeLists.txt b/spring-mock-ws/src/nonverbalbehaviours/CMakeLists.txt
index dcb3091..d9c90ed 100644
--- a/spring-mock-ws/src/nonverbalbehaviours/CMakeLists.txt
+++ b/spring-mock-ws/src/nonverbalbehaviours/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/nonverbalbehaviours/package.xml b/spring-mock-ws/src/nonverbalbehaviours/package.xml
index 6ee823f..0e1891a 100644
--- a/spring-mock-ws/src/nonverbalbehaviours/package.xml
+++ b/spring-mock-ws/src/nonverbalbehaviours/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>nonverbalbehaviours</name>
<version>1.0.0</version>
- <description>Non-verbal behaviours (UNITN) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Non-verbal behaviours (UNITN) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/nonverbalbehaviours/src/main.cpp b/spring-mock-ws/src/nonverbalbehaviours/src/main.cpp
index dc6f1be..e530e4b 100644
--- a/spring-mock-ws/src/nonverbalbehaviours/src/main.cpp
+++ b/spring-mock-ws/src/nonverbalbehaviours/src/main.cpp
@@ -1,34 +1,60 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "nonverbalbehaviours");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void facesCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("nonverbalbehaviours: received message: " << msg);
+}
+void facevoicemappingCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("nonverbalbehaviours: received message: " << msg);
+}
+void voicesCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("nonverbalbehaviours: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "nonverbalbehaviours");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber faces_sub = n.subscribe("faces", 1, facesCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber facevoicemapping_sub = n.subscribe("facevoicemapping", 1, facevoicemappingCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber voices_sub = n.subscribe("voices", 1, voicesCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher hppersonidexpression_pub = n.advertise<std_msgs::Empty>("hppersonidexpression", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node nonverbalbehaviours launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/objectdetectionidentificationlocalisation/CMakeLists.txt b/spring-mock-ws/src/objectdetectionidentificationlocalisation/CMakeLists.txt
index 308b9ee..78447bb 100644
--- a/spring-mock-ws/src/objectdetectionidentificationlocalisation/CMakeLists.txt
+++ b/spring-mock-ws/src/objectdetectionidentificationlocalisation/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/objectdetectionidentificationlocalisation/package.xml b/spring-mock-ws/src/objectdetectionidentificationlocalisation/package.xml
index 2a03aa9..178faae 100644
--- a/spring-mock-ws/src/objectdetectionidentificationlocalisation/package.xml
+++ b/spring-mock-ws/src/objectdetectionidentificationlocalisation/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>objectdetectionidentificationlocalisation</name>
<version>1.0.0</version>
- <description>Object detection/identification/localisation (CVUT) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Object detection/identification/localisation (CVUT) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/objectdetectionidentificationlocalisation/src/main.cpp b/spring-mock-ws/src/objectdetectionidentificationlocalisation/src/main.cpp
index 79cb310..56af823 100644
--- a/spring-mock-ws/src/objectdetectionidentificationlocalisation/src/main.cpp
+++ b/spring-mock-ws/src/objectdetectionidentificationlocalisation/src/main.cpp
@@ -1,34 +1,48 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "objectdetectionidentificationlocalisation");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void videoCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("objectdetectionidentificationlocalisation: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "objectdetectionidentificationlocalisation");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber video_sub = n.subscribe("video", 1, videoCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher detected_objectslabel6dpos_pub = n.advertise<std_msgs::Empty>("detected_objectslabel6dpos", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node objectdetectionidentificationlocalisation launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/occupancymap/CMakeLists.txt b/spring-mock-ws/src/occupancymap/CMakeLists.txt
index cc3c391..b06e4ce 100644
--- a/spring-mock-ws/src/occupancymap/CMakeLists.txt
+++ b/spring-mock-ws/src/occupancymap/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/occupancymap/package.xml b/spring-mock-ws/src/occupancymap/package.xml
index 0f1e427..98ce876 100644
--- a/spring-mock-ws/src/occupancymap/package.xml
+++ b/spring-mock-ws/src/occupancymap/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>occupancymap</name>
<version>1.0.0</version>
- <description>Occupancy map (CVUT) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Occupancy map (CVUT) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/occupancymap/src/main.cpp b/spring-mock-ws/src/occupancymap/src/main.cpp
index 0f756b6..63dd3ba 100644
--- a/spring-mock-ws/src/occupancymap/src/main.cpp
+++ b/spring-mock-ws/src/occupancymap/src/main.cpp
@@ -1,34 +1,54 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "occupancymap");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void tfbodiesCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("occupancymap: received message: " << msg);
+}
+void dense3dmapCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("occupancymap: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "occupancymap");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber tfbodies_sub = n.subscribe("tfbodies", 1, tfbodiesCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber dense3dmap_sub = n.subscribe("dense3dmap", 1, dense3dmapCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher nav_msgsoccupancygrid_pub = n.advertise<std_msgs::Empty>("nav_msgsoccupancygrid", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node occupancymap launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/orbslam/CMakeLists.txt b/spring-mock-ws/src/orbslam/CMakeLists.txt
index e01ad68..8337cf3 100644
--- a/spring-mock-ws/src/orbslam/CMakeLists.txt
+++ b/spring-mock-ws/src/orbslam/CMakeLists.txt
@@ -10,6 +10,8 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
+ tf
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/orbslam/package.xml b/spring-mock-ws/src/orbslam/package.xml
index d711b31..ab959bc 100644
--- a/spring-mock-ws/src/orbslam/package.xml
+++ b/spring-mock-ws/src/orbslam/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>orbslam</name>
<version>1.0.0</version>
- <description>ORB SLAM (PAL) . Auto-generated by Boxology 1.0.0.</description>
+ <description>ORB SLAM (PAL) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,9 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
+ <depend>tf</depend>
<export>
diff --git a/spring-mock-ws/src/orbslam/src/main.cpp b/spring-mock-ws/src/orbslam/src/main.cpp
index 44b5c48..9bef556 100644
--- a/spring-mock-ws/src/orbslam/src/main.cpp
+++ b/spring-mock-ws/src/orbslam/src/main.cpp
@@ -1,34 +1,47 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "orbslam");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
+#include "tf/transform_broadcaster.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("orbslam: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "orbslam");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber input_sub = n.subscribe("input", 1, inputCallback);
- ros::spinOnce();
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node orbslam launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/people3dtracker/CMakeLists.txt b/spring-mock-ws/src/people3dtracker/CMakeLists.txt
index 346c44e..48f911b 100644
--- a/spring-mock-ws/src/people3dtracker/CMakeLists.txt
+++ b/spring-mock-ws/src/people3dtracker/CMakeLists.txt
@@ -10,6 +10,8 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
+ tf
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/people3dtracker/package.xml b/spring-mock-ws/src/people3dtracker/package.xml
index ecbcbc1..ddbc11b 100644
--- a/spring-mock-ws/src/people3dtracker/package.xml
+++ b/spring-mock-ws/src/people3dtracker/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>people3dtracker</name>
<version>1.0.0</version>
- <description>People 3D tracker (INRIA) . Auto-generated by Boxology 1.0.0.</description>
+ <description>People 3D tracker (INRIA) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,9 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
+ <depend>tf</depend>
<export>
diff --git a/spring-mock-ws/src/people3dtracker/src/main.cpp b/spring-mock-ws/src/people3dtracker/src/main.cpp
index f622910..acc2aad 100644
--- a/spring-mock-ws/src/people3dtracker/src/main.cpp
+++ b/spring-mock-ws/src/people3dtracker/src/main.cpp
@@ -1,34 +1,59 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "people3dtracker");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
+#include "tf/transform_broadcaster.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void feetpositionCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("people3dtracker: received message: " << msg);
+}
+void peopleroisCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("people3dtracker: received message: " << msg);
+}
+void groundplaneCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("people3dtracker: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "people3dtracker");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber feetposition_sub = n.subscribe("feetposition", 1, feetpositionCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber peoplerois_sub = n.subscribe("peoplerois", 1, peopleroisCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber groundplane_sub = n.subscribe("groundplane", 1, groundplaneCallback);
- ros::spinOnce();
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node people3dtracker launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/personmanager/CMakeLists.txt b/spring-mock-ws/src/personmanager/CMakeLists.txt
index 516d402..18e9b07 100644
--- a/spring-mock-ws/src/personmanager/CMakeLists.txt
+++ b/spring-mock-ws/src/personmanager/CMakeLists.txt
@@ -10,6 +10,8 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
+ tf
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/personmanager/package.xml b/spring-mock-ws/src/personmanager/package.xml
index 6c6f869..24f94fe 100644
--- a/spring-mock-ws/src/personmanager/package.xml
+++ b/spring-mock-ws/src/personmanager/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>personmanager</name>
<version>1.0.0</version>
- <description>Person manager (INRIA) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Person manager (INRIA) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,9 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
+ <depend>tf</depend>
<export>
diff --git a/spring-mock-ws/src/personmanager/src/main.cpp b/spring-mock-ws/src/personmanager/src/main.cpp
index 7e3ad51..97a2530 100644
--- a/spring-mock-ws/src/personmanager/src/main.cpp
+++ b/spring-mock-ws/src/personmanager/src/main.cpp
@@ -1,34 +1,67 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "personmanager");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
+#include "tf/transform_broadcaster.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void tfvoicesCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("personmanager: received message: " << msg);
+}
+void matchersCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("personmanager: received message: " << msg);
+}
+void demographicsCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("personmanager: received message: " << msg);
+}
+void tffacesCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("personmanager: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "personmanager");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber tfvoices_sub = n.subscribe("tfvoices", 1, tfvoicesCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber matchers_sub = n.subscribe("matchers", 1, matchersCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber demographics_sub = n.subscribe("demographics", 1, demographicsCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber tffaces_sub = n.subscribe("tffaces", 1, tffacesCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher hppersonid_pub = n.advertise<std_msgs::Empty>("hppersonid", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node personmanager launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/rgbdcamera_info/CMakeLists.txt b/spring-mock-ws/src/rgbdcamera_info/CMakeLists.txt
index 19d24af..0da168d 100644
--- a/spring-mock-ws/src/rgbdcamera_info/CMakeLists.txt
+++ b/spring-mock-ws/src/rgbdcamera_info/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/rgbdcamera_info/package.xml b/spring-mock-ws/src/rgbdcamera_info/package.xml
index bf564db..1944c18 100644
--- a/spring-mock-ws/src/rgbdcamera_info/package.xml
+++ b/spring-mock-ws/src/rgbdcamera_info/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>rgbdcamera_info</name>
<version>1.0.0</version>
- <description>RGB-D + camera_info (PAL) . Auto-generated by Boxology 1.0.0.</description>
+ <description>RGB-D + camera_info (PAL) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/rgbdcamera_info/src/main.cpp b/spring-mock-ws/src/rgbdcamera_info/src/main.cpp
index 77adfd0..210bf02 100644
--- a/spring-mock-ws/src/rgbdcamera_info/src/main.cpp
+++ b/spring-mock-ws/src/rgbdcamera_info/src/main.cpp
@@ -1,34 +1,42 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "rgbdcamera_info");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "rgbdcamera_info");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher images_pub = n.advertise<std_msgs::Empty>("images", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node rgbdcamera_info launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/robotfunctionallayer/CMakeLists.txt b/spring-mock-ws/src/robotfunctionallayer/CMakeLists.txt
index bd81831..d4a4c90 100644
--- a/spring-mock-ws/src/robotfunctionallayer/CMakeLists.txt
+++ b/spring-mock-ws/src/robotfunctionallayer/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/robotfunctionallayer/package.xml b/spring-mock-ws/src/robotfunctionallayer/package.xml
index b1af87e..767536b 100644
--- a/spring-mock-ws/src/robotfunctionallayer/package.xml
+++ b/spring-mock-ws/src/robotfunctionallayer/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>robotfunctionallayer</name>
<version>1.0.0</version>
- <description>Robot functional layer (PAL) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Robot functional layer (PAL) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/robotfunctionallayer/src/main.cpp b/spring-mock-ws/src/robotfunctionallayer/src/main.cpp
index 234b8c2..7dab02e 100644
--- a/spring-mock-ws/src/robotfunctionallayer/src/main.cpp
+++ b/spring-mock-ws/src/robotfunctionallayer/src/main.cpp
@@ -1,34 +1,46 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "robotfunctionallayer");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("robotfunctionallayer: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "robotfunctionallayer");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber input_sub = n.subscribe("input", 1, inputCallback);
- ros::spinOnce();
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node robotfunctionallayer launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/robotgui/CMakeLists.txt b/spring-mock-ws/src/robotgui/CMakeLists.txt
index e866568..2ff207f 100644
--- a/spring-mock-ws/src/robotgui/CMakeLists.txt
+++ b/spring-mock-ws/src/robotgui/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/robotgui/package.xml b/spring-mock-ws/src/robotgui/package.xml
index 932e10b..4537866 100644
--- a/spring-mock-ws/src/robotgui/package.xml
+++ b/spring-mock-ws/src/robotgui/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>robotgui</name>
<version>1.0.0</version>
- <description>Robot GUI (ERM) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Robot GUI (ERM) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/robotgui/src/main.cpp b/spring-mock-ws/src/robotgui/src/main.cpp
index 9ea42c7..1c904d3 100644
--- a/spring-mock-ws/src/robotgui/src/main.cpp
+++ b/spring-mock-ws/src/robotgui/src/main.cpp
@@ -1,34 +1,64 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "robotgui");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void additionalsupportmaterialCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("robotgui: received message: " << msg);
+}
+void speechoutputCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("robotgui: received message: " << msg);
+}
+void speechinputCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("robotgui: received message: " << msg);
+}
+void ttsfeedbackCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("robotgui: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "robotgui");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber additionalsupportmaterial_sub = n.subscribe("additionalsupportmaterial", 1, additionalsupportmaterialCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber speechoutput_sub = n.subscribe("speechoutput", 1, speechoutputCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber speechinput_sub = n.subscribe("speechinput", 1, speechinputCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber ttsfeedback_sub = n.subscribe("ttsfeedback", 1, ttsfeedbackCallback);
- ros::spinOnce();
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node robotgui launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/robotnonverbalbehaviours/CMakeLists.txt b/spring-mock-ws/src/robotnonverbalbehaviours/CMakeLists.txt
index d422142..47627e2 100644
--- a/spring-mock-ws/src/robotnonverbalbehaviours/CMakeLists.txt
+++ b/spring-mock-ws/src/robotnonverbalbehaviours/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/robotnonverbalbehaviours/package.xml b/spring-mock-ws/src/robotnonverbalbehaviours/package.xml
index 075c18c..e406c5a 100644
--- a/spring-mock-ws/src/robotnonverbalbehaviours/package.xml
+++ b/spring-mock-ws/src/robotnonverbalbehaviours/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>robotnonverbalbehaviours</name>
<version>1.0.0</version>
- <description>Robot non-verbal behaviours (INRIA) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Robot non-verbal behaviours (INRIA) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp b/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp
index ec848f9..c03c568 100644
--- a/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp
+++ b/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp
@@ -1,34 +1,74 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "robotnonverbalbehaviours");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void followingnavgoalsCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
+}
+void hppersonidCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
+}
+void statusCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
+}
+void occupancymapCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
+}
+void lookatCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "robotnonverbalbehaviours");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber followingnavgoals_sub = n.subscribe("followingnavgoals", 1, followingnavgoalsCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber hppersonid_sub = n.subscribe("hppersonid", 1, hppersonidCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber status_sub = n.subscribe("status", 1, statusCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber occupancymap_sub = n.subscribe("occupancymap", 1, occupancymapCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber lookat_sub = n.subscribe("lookat", 1, lookatCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher lowlevelactions_pub = n.advertise<std_msgs::Empty>("lowlevelactions", 1);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher status_pub = n.advertise<std_msgs::Empty>("status", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node robotnonverbalbehaviours launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/robotutterances/CMakeLists.txt b/spring-mock-ws/src/robotutterances/CMakeLists.txt
index f38e64c..569368a 100644
--- a/spring-mock-ws/src/robotutterances/CMakeLists.txt
+++ b/spring-mock-ws/src/robotutterances/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/robotutterances/package.xml b/spring-mock-ws/src/robotutterances/package.xml
index 2942b8e..f8dc8b7 100644
--- a/spring-mock-ws/src/robotutterances/package.xml
+++ b/spring-mock-ws/src/robotutterances/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>robotutterances</name>
<version>1.0.0</version>
- <description>Robot utterances (HWU) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Robot utterances (HWU) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/robotutterances/src/main.cpp b/spring-mock-ws/src/robotutterances/src/main.cpp
index 7fb6f1a..f12ab7b 100644
--- a/spring-mock-ws/src/robotutterances/src/main.cpp
+++ b/spring-mock-ws/src/robotutterances/src/main.cpp
@@ -1,34 +1,48 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "robotutterances");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("robotutterances: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "robotutterances");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber input_sub = n.subscribe("input", 1, inputCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher speech_pub = n.advertise<std_msgs::Empty>("speech", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node robotutterances launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/rosopenpose/CMakeLists.txt b/spring-mock-ws/src/rosopenpose/CMakeLists.txt
index 0434fdc..4db52b7 100644
--- a/spring-mock-ws/src/rosopenpose/CMakeLists.txt
+++ b/spring-mock-ws/src/rosopenpose/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/rosopenpose/package.xml b/spring-mock-ws/src/rosopenpose/package.xml
index 67bc4dc..0d31cc0 100644
--- a/spring-mock-ws/src/rosopenpose/package.xml
+++ b/spring-mock-ws/src/rosopenpose/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>rosopenpose</name>
<version>1.0.0</version>
- <description>ROS openpose (INRIA) . Auto-generated by Boxology 1.0.0.</description>
+ <description>ROS openpose (INRIA) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/rosopenpose/src/main.cpp b/spring-mock-ws/src/rosopenpose/src/main.cpp
index bfa4a22..f00e22e 100644
--- a/spring-mock-ws/src/rosopenpose/src/main.cpp
+++ b/spring-mock-ws/src/rosopenpose/src/main.cpp
@@ -1,34 +1,48 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "rosopenpose");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("rosopenpose: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "rosopenpose");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber input_sub = n.subscribe("input", 1, inputCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher output_pub = n.advertise<std_msgs::Empty>("output", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node rosopenpose launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/sceneunderstanding/CMakeLists.txt b/spring-mock-ws/src/sceneunderstanding/CMakeLists.txt
index a422fd6..7e122b7 100644
--- a/spring-mock-ws/src/sceneunderstanding/CMakeLists.txt
+++ b/spring-mock-ws/src/sceneunderstanding/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/sceneunderstanding/package.xml b/spring-mock-ws/src/sceneunderstanding/package.xml
index 25fbd0c..7adb2b3 100644
--- a/spring-mock-ws/src/sceneunderstanding/package.xml
+++ b/spring-mock-ws/src/sceneunderstanding/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>sceneunderstanding</name>
<version>1.0.0</version>
- <description>Scene understanding (HWU) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Scene understanding (HWU) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/sceneunderstanding/src/main.cpp b/spring-mock-ws/src/sceneunderstanding/src/main.cpp
index f6188bc..8022816 100644
--- a/spring-mock-ws/src/sceneunderstanding/src/main.cpp
+++ b/spring-mock-ws/src/sceneunderstanding/src/main.cpp
@@ -1,34 +1,48 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "sceneunderstanding");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void scenegraphCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("sceneunderstanding: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "sceneunderstanding");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber scenegraph_sub = n.subscribe("scenegraph", 1, scenegraphCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher semanticdescription_pub = n.advertise<std_msgs::Empty>("semanticdescription", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node sceneunderstanding launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/semanticmapping/CMakeLists.txt b/spring-mock-ws/src/semanticmapping/CMakeLists.txt
index 44e6bcb..b599de5 100644
--- a/spring-mock-ws/src/semanticmapping/CMakeLists.txt
+++ b/spring-mock-ws/src/semanticmapping/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/semanticmapping/package.xml b/spring-mock-ws/src/semanticmapping/package.xml
index 309ad68..f94066f 100644
--- a/spring-mock-ws/src/semanticmapping/package.xml
+++ b/spring-mock-ws/src/semanticmapping/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>semanticmapping</name>
<version>1.0.0</version>
- <description>Semantic mapping (CVUT) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Semantic mapping (CVUT) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/semanticmapping/src/main.cpp b/spring-mock-ws/src/semanticmapping/src/main.cpp
index 77a3807..7cfeaf5 100644
--- a/spring-mock-ws/src/semanticmapping/src/main.cpp
+++ b/spring-mock-ws/src/semanticmapping/src/main.cpp
@@ -1,34 +1,54 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "semanticmapping");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void dense3dmapCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("semanticmapping: received message: " << msg);
+}
+void detected_objectsCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("semanticmapping: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "semanticmapping");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber dense3dmap_sub = n.subscribe("dense3dmap", 1, dense3dmapCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber detected_objects_sub = n.subscribe("detected_objects", 1, detected_objectsCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher scenegraph_pub = n.advertise<std_msgs::Empty>("scenegraph", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node semanticmapping launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/soundlocalisation/CMakeLists.txt b/spring-mock-ws/src/soundlocalisation/CMakeLists.txt
index 8da36d8..6a4e00c 100644
--- a/spring-mock-ws/src/soundlocalisation/CMakeLists.txt
+++ b/spring-mock-ws/src/soundlocalisation/CMakeLists.txt
@@ -10,6 +10,8 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ tf
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/soundlocalisation/package.xml b/spring-mock-ws/src/soundlocalisation/package.xml
index 276d265..b2f623f 100644
--- a/spring-mock-ws/src/soundlocalisation/package.xml
+++ b/spring-mock-ws/src/soundlocalisation/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>soundlocalisation</name>
<version>1.0.0</version>
- <description>Sound localisation (BIU) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Sound localisation (BIU) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,9 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>tf</depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/soundlocalisation/src/main.cpp b/spring-mock-ws/src/soundlocalisation/src/main.cpp
index 7dd844d..eaed13c 100644
--- a/spring-mock-ws/src/soundlocalisation/src/main.cpp
+++ b/spring-mock-ws/src/soundlocalisation/src/main.cpp
@@ -1,34 +1,47 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "soundlocalisation");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "tf/transform_broadcaster.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("soundlocalisation: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "soundlocalisation");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber input_sub = n.subscribe("input", 1, inputCallback);
- ros::spinOnce();
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node soundlocalisation launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/speakerrecognition/CMakeLists.txt b/spring-mock-ws/src/speakerrecognition/CMakeLists.txt
index 7fb92ba..9b475a4 100644
--- a/spring-mock-ws/src/speakerrecognition/CMakeLists.txt
+++ b/spring-mock-ws/src/speakerrecognition/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/speakerrecognition/package.xml b/spring-mock-ws/src/speakerrecognition/package.xml
index 0d72c94..4d1c5b4 100644
--- a/spring-mock-ws/src/speakerrecognition/package.xml
+++ b/spring-mock-ws/src/speakerrecognition/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>speakerrecognition</name>
<version>1.0.0</version>
- <description>Speaker recognition (BIU) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Speaker recognition (BIU) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/speakerrecognition/src/main.cpp b/spring-mock-ws/src/speakerrecognition/src/main.cpp
index 16b7da3..7d35d11 100644
--- a/spring-mock-ws/src/speakerrecognition/src/main.cpp
+++ b/spring-mock-ws/src/speakerrecognition/src/main.cpp
@@ -1,34 +1,48 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "speakerrecognition");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("speakerrecognition: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "speakerrecognition");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber input_sub = n.subscribe("input", 1, inputCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher personid_pub = n.advertise<std_msgs::Empty>("personid", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node speakerrecognition launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/speechdiarization/CMakeLists.txt b/spring-mock-ws/src/speechdiarization/CMakeLists.txt
index 28daa46..07d9a34 100644
--- a/spring-mock-ws/src/speechdiarization/CMakeLists.txt
+++ b/spring-mock-ws/src/speechdiarization/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/speechdiarization/package.xml b/spring-mock-ws/src/speechdiarization/package.xml
index 2ce65db..054ef65 100644
--- a/spring-mock-ws/src/speechdiarization/package.xml
+++ b/spring-mock-ws/src/speechdiarization/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>speechdiarization</name>
<version>1.0.0</version>
- <description>Speech diarization (BIU) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Speech diarization (BIU) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/speechdiarization/src/main.cpp b/spring-mock-ws/src/speechdiarization/src/main.cpp
index 777a29e..8adfabf 100644
--- a/spring-mock-ws/src/speechdiarization/src/main.cpp
+++ b/spring-mock-ws/src/speechdiarization/src/main.cpp
@@ -1,34 +1,48 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "speechdiarization");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("speechdiarization: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "speechdiarization");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber input_sub = n.subscribe("input", 1, inputCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher hvvoiceidaudio_pub = n.advertise<std_msgs::Empty>("hvvoiceidaudio", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node speechdiarization launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/speechsynthesis/CMakeLists.txt b/spring-mock-ws/src/speechsynthesis/CMakeLists.txt
index 0562fc0..25f5b23 100644
--- a/spring-mock-ws/src/speechsynthesis/CMakeLists.txt
+++ b/spring-mock-ws/src/speechsynthesis/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/speechsynthesis/package.xml b/spring-mock-ws/src/speechsynthesis/package.xml
index 1440813..2921923 100644
--- a/spring-mock-ws/src/speechsynthesis/package.xml
+++ b/spring-mock-ws/src/speechsynthesis/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>speechsynthesis</name>
<version>1.0.0</version>
- <description>Speech synthesis (PAL) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Speech synthesis (PAL) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/speechsynthesis/src/main.cpp b/spring-mock-ws/src/speechsynthesis/src/main.cpp
index 8d850ad..fa558dd 100644
--- a/spring-mock-ws/src/speechsynthesis/src/main.cpp
+++ b/spring-mock-ws/src/speechsynthesis/src/main.cpp
@@ -1,34 +1,48 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "speechsynthesis");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("speechsynthesis: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "speechsynthesis");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber input_sub = n.subscribe("input", 1, inputCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher ttsfeedback_pub = n.advertise<std_msgs::Empty>("ttsfeedback", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node speechsynthesis launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/springarchitecture/CMakeLists.txt b/spring-mock-ws/src/springarchitecture/CMakeLists.txt
index a8769af..9c038d1 100644
--- a/spring-mock-ws/src/springarchitecture/CMakeLists.txt
+++ b/spring-mock-ws/src/springarchitecture/CMakeLists.txt
@@ -3,41 +3,41 @@ project(springarchitecture)
find_package(catkin REQUIRED COMPONENTS
- speechsynthesis
- objectdetectionidentificationlocalisation
- activityreco
- maskdetection
- facerecognition
- people3dtracker
- highlevelplanner
+ userattention
multipeopletracker
- speechdiarization
- fisheyestereorgbhead
- robotfunctionallayer
- usergaze
- orbslam
- dialoguemanager
+ maskdetection
robotnonverbalbehaviours
- demographics
- nonverbalbehaviours
+ robotfunctionallayer
+ robotutterances
+ activityreco
occupancymap
- speakerrecognition
- rgbdcamera_info
+ speechsynthesis
facedetection
- rosopenpose
+ fisheyestereorgbhead
+ demographics
respeaker_ros
- semanticmapping
+ facerecognition
+ speakerrecognition
+ usergaze
+ nonverbalbehaviours
+ visualslam3dmap
+ fformation
robotgui
- soundlocalisation
- robotutterances
- body2dpose
- userattention
- personmanager
+ people3dtracker
+ speechdiarization
+ rosopenpose
+ interactionmanager
+ rgbdcamera_info
asr
+ dialoguemanager
sceneunderstanding
- fformation
- interactionmanager
- visualslam3dmap
+ objectdetectionidentificationlocalisation
+ highlevelplanner
+ orbslam
+ body2dpose
+ soundlocalisation
+ semanticmapping
+ personmanager
)
catkin_package()
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all.launch b/spring-mock-ws/src/springarchitecture/launch/start_all.launch
index 39f9c05..74e7ff3 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all.launch
@@ -1,178 +1,145 @@
<launch>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
- </node>
-
- <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
- <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching User attention (userattention) -->
+ <node pkg="userattention" name="userattention" type="node" output="screen">
</node>
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Multi-people tracker (multipeopletracker) -->
+ <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
</node>
<!-- launching Mask detection (maskdetection) -->
<node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
- </node>
-
- <!-- launching Face recognition (facerecognition) -->
- <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
- </node>
-
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
- </node>
-
- <!-- launching Multi-people tracker (multipeopletracker) -->
- <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
</node>
- <!-- launching Speech diarization (speechdiarization) -->
- <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
- <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot utterances (robotutterances) -->
+ <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
</node>
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching User gaze (usergaze) -->
- <node pkg="usergaze" name="usergaze" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
</node>
- <!-- launching ORB SLAM (orbslam) -->
- <node pkg="orbslam" name="orbslam" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching Dialogue manager (dialoguemanager) -->
- <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Face detection (facedetection) -->
+ <node pkg="facedetection" name="facedetection" type="node" output="screen">
</node>
- <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
+ <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
</node>
<!-- launching Demographics (demographics) -->
<node pkg="demographics" name="demographics" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Face recognition (facerecognition) -->
+ <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
</node>
<!-- launching Speaker recognition (speakerrecognition) -->
<node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
- </node>
-
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching Face detection (facedetection) -->
- <node pkg="facedetection" name="facedetection" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching User gaze (usergaze) -->
+ <node pkg="usergaze" name="usergaze" type="node" output="screen">
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching F-formation (fformation) -->
+ <node pkg="fformation" name="fformation" type="node" output="screen">
+ <remap from="groups" to="/h/i/groups"/>
</node>
<!-- launching Robot GUI (robotgui) -->
<node pkg="robotgui" name="robotgui" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
</node>
- <!-- launching Body 2D pose (body2dpose) -->
- <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching User attention (userattention) -->
- <node pkg="userattention" name="userattention" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+ <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
</node>
<!-- launching ASR (asr) -->
<node pkg="asr" name="asr" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ </node>
+
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
</node>
<!-- launching Scene understanding (sceneunderstanding) -->
<node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching ORB SLAM (orbslam) -->
+ <node pkg="orbslam" name="orbslam" type="node" output="screen">
+ </node>
+
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ </node>
+
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ </node>
+
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ </node>
+
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_BIU.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_BIU.launch
index 076c46b..5e45a65 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_BIU.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_BIU.launch
@@ -1,159 +1,130 @@
<launch>
<!-- this launch file starts all SPRING nodes except for BIU nodes. -->
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
- </node>
-
- <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
- <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching User attention (userattention) -->
+ <node pkg="userattention" name="userattention" type="node" output="screen">
</node>
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Multi-people tracker (multipeopletracker) -->
+ <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
</node>
<!-- launching Mask detection (maskdetection) -->
<node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching Face recognition (facerecognition) -->
- <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot utterances (robotutterances) -->
+ <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
</node>
- <!-- launching Multi-people tracker (multipeopletracker) -->
- <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
- <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
</node>
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching User gaze (usergaze) -->
- <node pkg="usergaze" name="usergaze" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Face detection (facedetection) -->
+ <node pkg="facedetection" name="facedetection" type="node" output="screen">
</node>
- <!-- launching ORB SLAM (orbslam) -->
- <node pkg="orbslam" name="orbslam" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
+ <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
</node>
- <!-- launching Dialogue manager (dialoguemanager) -->
- <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Demographics (demographics) -->
+ <node pkg="demographics" name="demographics" type="node" output="screen">
</node>
- <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
</node>
- <!-- launching Demographics (demographics) -->
- <node pkg="demographics" name="demographics" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Face recognition (facerecognition) -->
+ <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
+ </node>
+
+ <!-- launching User gaze (usergaze) -->
+ <node pkg="usergaze" name="usergaze" type="node" output="screen">
</node>
<!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
<node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching F-formation (fformation) -->
+ <node pkg="fformation" name="fformation" type="node" output="screen">
+ <remap from="groups" to="/h/i/groups"/>
</node>
- <!-- launching Face detection (facedetection) -->
- <node pkg="facedetection" name="facedetection" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+ <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
</node>
- <!-- launching Body 2D pose (body2dpose) -->
- <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching User attention (userattention) -->
- <node pkg="userattention" name="userattention" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
</node>
- <!-- launching Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching ORB SLAM (orbslam) -->
+ <node pkg="orbslam" name="orbslam" type="node" output="screen">
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_CVUT.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_CVUT.launch
index d687c2f..fed5c42 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_CVUT.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_CVUT.launch
@@ -1,159 +1,130 @@
<launch>
<!-- this launch file starts all SPRING nodes except for CVUT nodes. -->
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching User attention (userattention) -->
+ <node pkg="userattention" name="userattention" type="node" output="screen">
</node>
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Multi-people tracker (multipeopletracker) -->
+ <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
</node>
<!-- launching Mask detection (maskdetection) -->
<node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching Face recognition (facerecognition) -->
- <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot utterances (robotutterances) -->
+ <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
</node>
- <!-- launching Multi-people tracker (multipeopletracker) -->
- <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching Speech diarization (speechdiarization) -->
- <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
- <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Face detection (facedetection) -->
+ <node pkg="facedetection" name="facedetection" type="node" output="screen">
</node>
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
+ <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
</node>
- <!-- launching User gaze (usergaze) -->
- <node pkg="usergaze" name="usergaze" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Demographics (demographics) -->
+ <node pkg="demographics" name="demographics" type="node" output="screen">
</node>
- <!-- launching ORB SLAM (orbslam) -->
- <node pkg="orbslam" name="orbslam" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
</node>
- <!-- launching Dialogue manager (dialoguemanager) -->
- <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Face recognition (facerecognition) -->
+ <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
</node>
- <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
</node>
- <!-- launching Demographics (demographics) -->
- <node pkg="demographics" name="demographics" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching User gaze (usergaze) -->
+ <node pkg="usergaze" name="usergaze" type="node" output="screen">
</node>
<!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
<node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching F-formation (fformation) -->
+ <node pkg="fformation" name="fformation" type="node" output="screen">
+ <remap from="groups" to="/h/i/groups"/>
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
</node>
- <!-- launching Face detection (facedetection) -->
- <node pkg="facedetection" name="facedetection" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+ <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
</node>
- <!-- launching Body 2D pose (body2dpose) -->
- <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
</node>
- <!-- launching User attention (userattention) -->
- <node pkg="userattention" name="userattention" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
</node>
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching ORB SLAM (orbslam) -->
+ <node pkg="orbslam" name="orbslam" type="node" output="screen">
</node>
- <!-- launching Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_ERM.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_ERM.launch
index e139db7..efc33e2 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_ERM.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_ERM.launch
@@ -1,174 +1,142 @@
<launch>
<!-- this launch file starts all SPRING nodes except for ERM nodes. -->
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
- </node>
-
- <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
- <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching User attention (userattention) -->
+ <node pkg="userattention" name="userattention" type="node" output="screen">
</node>
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Multi-people tracker (multipeopletracker) -->
+ <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
</node>
<!-- launching Mask detection (maskdetection) -->
<node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching Face recognition (facerecognition) -->
- <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot utterances (robotutterances) -->
+ <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
</node>
- <!-- launching Multi-people tracker (multipeopletracker) -->
- <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching Speech diarization (speechdiarization) -->
- <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
</node>
- <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
- <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Face detection (facedetection) -->
+ <node pkg="facedetection" name="facedetection" type="node" output="screen">
</node>
- <!-- launching User gaze (usergaze) -->
- <node pkg="usergaze" name="usergaze" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
+ <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
</node>
- <!-- launching ORB SLAM (orbslam) -->
- <node pkg="orbslam" name="orbslam" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Demographics (demographics) -->
+ <node pkg="demographics" name="demographics" type="node" output="screen">
</node>
- <!-- launching Dialogue manager (dialoguemanager) -->
- <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
</node>
- <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Face recognition (facerecognition) -->
+ <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
</node>
- <!-- launching Demographics (demographics) -->
- <node pkg="demographics" name="demographics" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+ </node>
+
+ <!-- launching User gaze (usergaze) -->
+ <node pkg="usergaze" name="usergaze" type="node" output="screen">
</node>
<!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
<node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
</node>
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching F-formation (fformation) -->
+ <node pkg="fformation" name="fformation" type="node" output="screen">
+ <remap from="groups" to="/h/i/groups"/>
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching Face detection (facedetection) -->
- <node pkg="facedetection" name="facedetection" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
</node>
<!-- launching ROS openpose (rosopenpose) -->
<node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+ <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
</node>
- <!-- launching Body 2D pose (body2dpose) -->
- <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching User attention (userattention) -->
- <node pkg="userattention" name="userattention" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
</node>
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching ORB SLAM (orbslam) -->
+ <node pkg="orbslam" name="orbslam" type="node" output="screen">
</node>
- <!-- launching Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_HWU.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_HWU.launch
index 347a1ed..77aaf31 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_HWU.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_HWU.launch
@@ -1,154 +1,126 @@
<launch>
<!-- this launch file starts all SPRING nodes except for HWU nodes. -->
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
- </node>
-
- <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
- <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching User attention (userattention) -->
+ <node pkg="userattention" name="userattention" type="node" output="screen">
</node>
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Multi-people tracker (multipeopletracker) -->
+ <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
</node>
<!-- launching Mask detection (maskdetection) -->
<node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching Face recognition (facerecognition) -->
- <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching Multi-people tracker (multipeopletracker) -->
- <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching Speech diarization (speechdiarization) -->
- <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ </node>
+
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ </node>
+
+ <!-- launching Face detection (facedetection) -->
+ <node pkg="facedetection" name="facedetection" type="node" output="screen">
</node>
<!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
<node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Demographics (demographics) -->
+ <node pkg="demographics" name="demographics" type="node" output="screen">
</node>
- <!-- launching User gaze (usergaze) -->
- <node pkg="usergaze" name="usergaze" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
</node>
- <!-- launching ORB SLAM (orbslam) -->
- <node pkg="orbslam" name="orbslam" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Face recognition (facerecognition) -->
+ <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
</node>
- <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
</node>
- <!-- launching Demographics (demographics) -->
- <node pkg="demographics" name="demographics" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching User gaze (usergaze) -->
+ <node pkg="usergaze" name="usergaze" type="node" output="screen">
</node>
<!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
<node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
</node>
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching F-formation (fformation) -->
+ <node pkg="fformation" name="fformation" type="node" output="screen">
+ <remap from="groups" to="/h/i/groups"/>
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
</node>
- <!-- launching Face detection (facedetection) -->
- <node pkg="facedetection" name="facedetection" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+ </node>
+
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
</node>
<!-- launching ROS openpose (rosopenpose) -->
<node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+ <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching ORB SLAM (orbslam) -->
+ <node pkg="orbslam" name="orbslam" type="node" output="screen">
</node>
<!-- launching Body 2D pose (body2dpose) -->
<node pkg="body2dpose" name="body2dpose" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
- </node>
-
- <!-- launching User attention (userattention) -->
- <node pkg="userattention" name="userattention" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
- </node>
-
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_INRIA.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_INRIA.launch
index 80c97fd..871c968 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_INRIA.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_INRIA.launch
@@ -1,154 +1,126 @@
<launch>
<!-- this launch file starts all SPRING nodes except for INRIA nodes. -->
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
- </node>
-
- <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
- <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
- </node>
-
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching User attention (userattention) -->
+ <node pkg="userattention" name="userattention" type="node" output="screen">
</node>
<!-- launching Mask detection (maskdetection) -->
<node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
- </node>
-
- <!-- launching Face recognition (facerecognition) -->
- <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching Speech diarization (speechdiarization) -->
- <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot utterances (robotutterances) -->
+ <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
</node>
- <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
- <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
</node>
- <!-- launching User gaze (usergaze) -->
- <node pkg="usergaze" name="usergaze" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching ORB SLAM (orbslam) -->
- <node pkg="orbslam" name="orbslam" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Face detection (facedetection) -->
+ <node pkg="facedetection" name="facedetection" type="node" output="screen">
</node>
- <!-- launching Dialogue manager (dialoguemanager) -->
- <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
+ <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
</node>
<!-- launching Demographics (demographics) -->
<node pkg="demographics" name="demographics" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Face recognition (facerecognition) -->
+ <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
</node>
<!-- launching Speaker recognition (speakerrecognition) -->
<node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching User gaze (usergaze) -->
+ <node pkg="usergaze" name="usergaze" type="node" output="screen">
</node>
- <!-- launching Face detection (facedetection) -->
- <node pkg="facedetection" name="facedetection" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching F-formation (fformation) -->
+ <node pkg="fformation" name="fformation" type="node" output="screen">
+ <remap from="groups" to="/h/i/groups"/>
</node>
<!-- launching Robot GUI (robotgui) -->
<node pkg="robotgui" name="robotgui" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
- </node>
-
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
</node>
- <!-- launching Body 2D pose (body2dpose) -->
- <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
- <!-- launching User attention (userattention) -->
- <node pkg="userattention" name="userattention" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+ <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
</node>
<!-- launching ASR (asr) -->
<node pkg="asr" name="asr" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ </node>
+
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
</node>
<!-- launching Scene understanding (sceneunderstanding) -->
<node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching ORB SLAM (orbslam) -->
+ <node pkg="orbslam" name="orbslam" type="node" output="screen">
+ </node>
+
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ </node>
+
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ </node>
+
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_Other.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_Other.launch
index c9d92ab..5ddb6fd 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_Other.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_Other.launch
@@ -1,179 +1,146 @@
<launch>
<!-- this launch file starts all SPRING nodes except for Other nodes. -->
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
- </node>
-
- <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
- <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching User attention (userattention) -->
+ <node pkg="userattention" name="userattention" type="node" output="screen">
</node>
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Multi-people tracker (multipeopletracker) -->
+ <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
</node>
<!-- launching Mask detection (maskdetection) -->
<node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
- </node>
-
- <!-- launching Face recognition (facerecognition) -->
- <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
- </node>
-
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
- </node>
-
- <!-- launching Multi-people tracker (multipeopletracker) -->
- <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
</node>
- <!-- launching Speech diarization (speechdiarization) -->
- <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
- <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot utterances (robotutterances) -->
+ <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
</node>
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching User gaze (usergaze) -->
- <node pkg="usergaze" name="usergaze" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
</node>
- <!-- launching ORB SLAM (orbslam) -->
- <node pkg="orbslam" name="orbslam" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching Dialogue manager (dialoguemanager) -->
- <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Face detection (facedetection) -->
+ <node pkg="facedetection" name="facedetection" type="node" output="screen">
</node>
- <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
+ <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
</node>
<!-- launching Demographics (demographics) -->
<node pkg="demographics" name="demographics" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Face recognition (facerecognition) -->
+ <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
</node>
<!-- launching Speaker recognition (speakerrecognition) -->
<node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
- </node>
-
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching Face detection (facedetection) -->
- <node pkg="facedetection" name="facedetection" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching User gaze (usergaze) -->
+ <node pkg="usergaze" name="usergaze" type="node" output="screen">
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching F-formation (fformation) -->
+ <node pkg="fformation" name="fformation" type="node" output="screen">
+ <remap from="groups" to="/h/i/groups"/>
</node>
<!-- launching Robot GUI (robotgui) -->
<node pkg="robotgui" name="robotgui" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
</node>
- <!-- launching Body 2D pose (body2dpose) -->
- <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching User attention (userattention) -->
- <node pkg="userattention" name="userattention" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+ <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
</node>
<!-- launching ASR (asr) -->
<node pkg="asr" name="asr" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ </node>
+
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
</node>
<!-- launching Scene understanding (sceneunderstanding) -->
<node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching ORB SLAM (orbslam) -->
+ <node pkg="orbslam" name="orbslam" type="node" output="screen">
+ </node>
+
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ </node>
+
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ </node>
+
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ </node>
+
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_PAL.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_PAL.launch
index 54c650b..2fd2757 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_PAL.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_PAL.launch
@@ -1,149 +1,121 @@
<launch>
<!-- this launch file starts all SPRING nodes except for PAL nodes. -->
- <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
- <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching User attention (userattention) -->
+ <node pkg="userattention" name="userattention" type="node" output="screen">
</node>
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Multi-people tracker (multipeopletracker) -->
+ <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
</node>
<!-- launching Mask detection (maskdetection) -->
<node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching Face recognition (facerecognition) -->
- <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot utterances (robotutterances) -->
+ <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching Multi-people tracker (multipeopletracker) -->
- <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
</node>
- <!-- launching Speech diarization (speechdiarization) -->
- <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Face detection (facedetection) -->
+ <node pkg="facedetection" name="facedetection" type="node" output="screen">
</node>
- <!-- launching User gaze (usergaze) -->
- <node pkg="usergaze" name="usergaze" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Demographics (demographics) -->
+ <node pkg="demographics" name="demographics" type="node" output="screen">
</node>
- <!-- launching Dialogue manager (dialoguemanager) -->
- <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Face recognition (facerecognition) -->
+ <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
</node>
- <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
</node>
- <!-- launching Demographics (demographics) -->
- <node pkg="demographics" name="demographics" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching User gaze (usergaze) -->
+ <node pkg="usergaze" name="usergaze" type="node" output="screen">
</node>
<!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
<node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
</node>
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching F-formation (fformation) -->
+ <node pkg="fformation" name="fformation" type="node" output="screen">
+ <remap from="groups" to="/h/i/groups"/>
</node>
- <!-- launching Face detection (facedetection) -->
- <node pkg="facedetection" name="facedetection" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
</node>
- <!-- launching Body 2D pose (body2dpose) -->
- <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
</node>
- <!-- launching User attention (userattention) -->
- <node pkg="userattention" name="userattention" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
</node>
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
</node>
- <!-- launching Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_UNITN.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_UNITN.launch
index 6dda696..249a925 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_UNITN.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_UNITN.launch
@@ -1,129 +1,105 @@
<launch>
<!-- this launch file starts all SPRING nodes except for UNITN nodes. -->
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Multi-people tracker (multipeopletracker) -->
+ <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
</node>
- <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
- <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot utterances (robotutterances) -->
+ <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
</node>
- <!-- launching Multi-people tracker (multipeopletracker) -->
- <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
</node>
- <!-- launching Speech diarization (speechdiarization) -->
- <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
<!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
<node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
- </node>
-
- <!-- launching ORB SLAM (orbslam) -->
- <node pkg="orbslam" name="orbslam" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
</node>
- <!-- launching Dialogue manager (dialoguemanager) -->
- <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
</node>
- <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
</node>
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
</node>
<!-- launching ROS openpose (rosopenpose) -->
<node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+ <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
</node>
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
</node>
- <!-- launching Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching ORB SLAM (orbslam) -->
+ <node pkg="orbslam" name="orbslam" type="node" output="screen">
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
- <remap from="image" to="$(arg image_topic)"/>
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ </node>
+
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
</node>
diff --git a/spring-mock-ws/src/springarchitecture/package.xml b/spring-mock-ws/src/springarchitecture/package.xml
index 87bdc6c..770e1b7 100644
--- a/spring-mock-ws/src/springarchitecture/package.xml
+++ b/spring-mock-ws/src/springarchitecture/package.xml
@@ -2,48 +2,48 @@
<package format="3">
<name>springarchitecture</name>
<version>0.1.0</version>
- <description>EU H2020 SPRING architecture. Auto-generated by Boxology 1.0.0.</description>
+ <description>EU H2020 SPRING architecture. Auto-generated by Boxology 1.1.0.</description>
<maintainer email="todo@example.com">TODO</maintainer>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
- <depend>speechsynthesis</depend>
- <depend>objectdetectionidentificationlocalisation</depend>
- <depend>activityreco</depend>
- <depend>maskdetection</depend>
- <depend>facerecognition</depend>
- <depend>people3dtracker</depend>
- <depend>highlevelplanner</depend>
+ <depend>userattention</depend>
<depend>multipeopletracker</depend>
- <depend>speechdiarization</depend>
- <depend>fisheyestereorgbhead</depend>
- <depend>robotfunctionallayer</depend>
- <depend>usergaze</depend>
- <depend>orbslam</depend>
- <depend>dialoguemanager</depend>
+ <depend>maskdetection</depend>
<depend>robotnonverbalbehaviours</depend>
- <depend>demographics</depend>
- <depend>nonverbalbehaviours</depend>
+ <depend>robotfunctionallayer</depend>
+ <depend>robotutterances</depend>
+ <depend>activityreco</depend>
<depend>occupancymap</depend>
- <depend>speakerrecognition</depend>
- <depend>rgbdcamera_info</depend>
+ <depend>speechsynthesis</depend>
<depend>facedetection</depend>
- <depend>rosopenpose</depend>
+ <depend>fisheyestereorgbhead</depend>
+ <depend>demographics</depend>
<depend>respeaker_ros</depend>
- <depend>semanticmapping</depend>
+ <depend>facerecognition</depend>
+ <depend>speakerrecognition</depend>
+ <depend>usergaze</depend>
+ <depend>nonverbalbehaviours</depend>
+ <depend>visualslam3dmap</depend>
+ <depend>fformation</depend>
<depend>robotgui</depend>
- <depend>soundlocalisation</depend>
- <depend>robotutterances</depend>
- <depend>body2dpose</depend>
- <depend>userattention</depend>
- <depend>personmanager</depend>
+ <depend>people3dtracker</depend>
+ <depend>speechdiarization</depend>
+ <depend>rosopenpose</depend>
+ <depend>interactionmanager</depend>
+ <depend>rgbdcamera_info</depend>
<depend>asr</depend>
+ <depend>dialoguemanager</depend>
<depend>sceneunderstanding</depend>
- <depend>fformation</depend>
- <depend>interactionmanager</depend>
- <depend>visualslam3dmap</depend>
+ <depend>objectdetectionidentificationlocalisation</depend>
+ <depend>highlevelplanner</depend>
+ <depend>orbslam</depend>
+ <depend>body2dpose</depend>
+ <depend>soundlocalisation</depend>
+ <depend>semanticmapping</depend>
+ <depend>personmanager</depend>
<export>
diff --git a/spring-mock-ws/src/userattention/CMakeLists.txt b/spring-mock-ws/src/userattention/CMakeLists.txt
index 671332b..562b923 100644
--- a/spring-mock-ws/src/userattention/CMakeLists.txt
+++ b/spring-mock-ws/src/userattention/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/userattention/package.xml b/spring-mock-ws/src/userattention/package.xml
index 754d256..bd24c5c 100644
--- a/spring-mock-ws/src/userattention/package.xml
+++ b/spring-mock-ws/src/userattention/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>userattention</name>
<version>1.0.0</version>
- <description>User attention (UNITN) . Auto-generated by Boxology 1.0.0.</description>
+ <description>User attention (UNITN) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/userattention/src/main.cpp b/spring-mock-ws/src/userattention/src/main.cpp
index 0fb83ca..56defb0 100644
--- a/spring-mock-ws/src/userattention/src/main.cpp
+++ b/spring-mock-ws/src/userattention/src/main.cpp
@@ -1,34 +1,74 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "userattention");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void tfbodiesCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("userattention: received message: " << msg);
+}
+void gazedirectionCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("userattention: received message: " << msg);
+}
+void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("userattention: received message: " << msg);
+}
+void tffacesCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("userattention: received message: " << msg);
+}
+void tfpersonsCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("userattention: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "userattention");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber tfbodies_sub = n.subscribe("tfbodies", 1, tfbodiesCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber gazedirection_sub = n.subscribe("gazedirection", 1, gazedirectionCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber input_sub = n.subscribe("input", 1, inputCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber tffaces_sub = n.subscribe("tffaces", 1, tffacesCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber tfpersons_sub = n.subscribe("tfpersons", 1, tfpersonsCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher currentattentiveperson_pub = n.advertise<std_msgs::Empty>("currentattentiveperson", 1);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher output_pub = n.advertise<std_msgs::Empty>("output", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node userattention launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/usergaze/CMakeLists.txt b/spring-mock-ws/src/usergaze/CMakeLists.txt
index 4d55bf2..2b3d726 100644
--- a/spring-mock-ws/src/usergaze/CMakeLists.txt
+++ b/spring-mock-ws/src/usergaze/CMakeLists.txt
@@ -10,6 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/usergaze/package.xml b/spring-mock-ws/src/usergaze/package.xml
index b3c7040..04cf803 100644
--- a/spring-mock-ws/src/usergaze/package.xml
+++ b/spring-mock-ws/src/usergaze/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>usergaze</name>
<version>1.0.0</version>
- <description>User gaze (UNITN) . Auto-generated by Boxology 1.0.0.</description>
+ <description>User gaze (UNITN) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/usergaze/src/main.cpp b/spring-mock-ws/src/usergaze/src/main.cpp
index 05ad31e..58dd40f 100644
--- a/spring-mock-ws/src/usergaze/src/main.cpp
+++ b/spring-mock-ws/src/usergaze/src/main.cpp
@@ -1,34 +1,54 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "usergaze");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void tffacesCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("usergaze: received message: " << msg);
+}
+void imagesCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("usergaze: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "usergaze");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber tffaces_sub = n.subscribe("tffaces", 1, tffacesCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber images_sub = n.subscribe("images", 1, imagesCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher gazedirection_pub = n.advertise<std_msgs::Empty>("gazedirection", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node usergaze launched and ready.");
+ ros::spin();
return 0;
}
diff --git a/spring-mock-ws/src/visualslam3dmap/CMakeLists.txt b/spring-mock-ws/src/visualslam3dmap/CMakeLists.txt
index da6afe1..8f7cbc0 100644
--- a/spring-mock-ws/src/visualslam3dmap/CMakeLists.txt
+++ b/spring-mock-ws/src/visualslam3dmap/CMakeLists.txt
@@ -10,6 +10,8 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
+ std_msgs
+ tf
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/visualslam3dmap/package.xml b/spring-mock-ws/src/visualslam3dmap/package.xml
index 34e0fd1..7f5f152 100644
--- a/spring-mock-ws/src/visualslam3dmap/package.xml
+++ b/spring-mock-ws/src/visualslam3dmap/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>visualslam3dmap</name>
<version>1.0.0</version>
- <description>Visual SLAM + 3D map (CVUT) . Auto-generated by Boxology 1.0.0.</description>
+ <description>Visual SLAM + 3D map (CVUT) . Auto-generated by Boxology 1.1.0.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -49,8 +49,9 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <depend>std_msgs</depend>
<exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
+ <depend>tf</depend>
<export>
diff --git a/spring-mock-ws/src/visualslam3dmap/src/main.cpp b/spring-mock-ws/src/visualslam3dmap/src/main.cpp
index d77bce6..0d66256 100644
--- a/spring-mock-ws/src/visualslam3dmap/src/main.cpp
+++ b/spring-mock-ws/src/visualslam3dmap/src/main.cpp
@@ -1,34 +1,55 @@
-#include <sstream>
+/*
+ Copyright 2021-2025, SPRING Consortium
-#include "ros/ros.h"
-#include "std_msgs/String.h"
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
-int main(int argc, char **argv) {
- ros::init(argc, argv, "visualslam3dmap");
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
- ros::NodeHandle n;
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
- ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
- ros::Rate loop_rate(10);
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
+#include "tf/transform_broadcaster.h"
- int count = 0;
- while (ros::ok()) {
- std_msgs::String msg;
+void localisationpriorCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("visualslam3dmap: received message: " << msg);
+}
+void imagesCallback(const std_msgs::Empty::ConstPtr& msg)
+{
+ ROS_INFO_STREAM("visualslam3dmap: received message: " << msg);
+}
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "visualslam3dmap");
- ROS_INFO("%s", msg.data.c_str());
+ ros::NodeHandle n;
- chatter_pub.publish(msg);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber localisationprior_sub = n.subscribe("localisationprior", 1, localisationpriorCallback);
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Subscriber images_sub = n.subscribe("images", 1, imagesCallback);
- ros::spinOnce();
+ // ATTENTION: this topic is not defined in the architecture design
+ ros::Publisher dense3dmap_pub = n.advertise<std_msgs::Empty>("dense3dmap", 1);
- loop_rate.sleep();
- ++count;
- }
+ ROS_INFO("Node visualslam3dmap launched and ready.");
+ ros::spin();
return 0;
}
--
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