From 493bb061760b79e2eed03c0280d23cbad05fce01 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?S=C3=A9verin=20Lemaignan?=
<severin.lemaignan@pal-robotics.com>
Date: Thu, 18 Nov 2021 11:20:03 +0100
Subject: [PATCH] [ros mockup] better mock-up nodes, based on classes
---
.../src/activityreco/CMakeLists.txt | 1 -
spring-mock-ws/src/activityreco/src/main.cpp | 53 ++++--
spring-mock-ws/src/asr/CMakeLists.txt | 1 -
spring-mock-ws/src/asr/src/main.cpp | 40 +++--
spring-mock-ws/src/body2dpose/CMakeLists.txt | 4 +-
spring-mock-ws/src/body2dpose/package.xml | 3 +-
spring-mock-ws/src/body2dpose/src/main.cpp | 54 ++++--
.../src/demographics/CMakeLists.txt | 3 +-
spring-mock-ws/src/demographics/package.xml | 2 +-
spring-mock-ws/src/demographics/src/main.cpp | 41 +++--
.../src/dialoguemanager/CMakeLists.txt | 1 -
.../src/dialoguemanager/src/main.cpp | 58 ++++---
.../src/facedetection/CMakeLists.txt | 4 +-
spring-mock-ws/src/facedetection/package.xml | 3 +-
spring-mock-ws/src/facedetection/src/main.cpp | 41 +++--
.../src/facerecognition/CMakeLists.txt | 2 +-
.../src/facerecognition/package.xml | 1 +
.../src/facerecognition/src/main.cpp | 40 +++--
spring-mock-ws/src/fformation/CMakeLists.txt | 3 +-
spring-mock-ws/src/fformation/package.xml | 2 +-
spring-mock-ws/src/fformation/src/main.cpp | 25 ++-
.../src/fisheyestereorgbhead/CMakeLists.txt | 3 +-
.../src/fisheyestereorgbhead/package.xml | 2 +-
.../src/fisheyestereorgbhead/src/main.cpp | 28 ++-
.../src/highlevelplanner/CMakeLists.txt | 1 -
.../src/highlevelplanner/src/main.cpp | 89 ++++++----
.../src/interactionmanager/CMakeLists.txt | 1 -
.../src/interactionmanager/src/main.cpp | 127 ++++++++------
.../src/maskdetection/CMakeLists.txt | 2 +-
spring-mock-ws/src/maskdetection/package.xml | 1 +
spring-mock-ws/src/maskdetection/src/main.cpp | 41 +++--
.../src/multipeopletracker/CMakeLists.txt | 4 +-
.../src/multipeopletracker/package.xml | 3 +-
.../src/multipeopletracker/src/main.cpp | 41 +++--
.../src/nonverbalbehaviours/CMakeLists.txt | 1 -
.../src/nonverbalbehaviours/src/main.cpp | 66 +++++---
.../CMakeLists.txt | 2 +-
.../package.xml | 1 +
.../src/main.cpp | 40 +++--
.../src/occupancymap/CMakeLists.txt | 2 +-
spring-mock-ws/src/occupancymap/package.xml | 1 +
spring-mock-ws/src/occupancymap/src/main.cpp | 53 ++++--
spring-mock-ws/src/orbslam/CMakeLists.txt | 4 +-
spring-mock-ws/src/orbslam/package.xml | 3 +-
spring-mock-ws/src/orbslam/src/main.cpp | 39 +++--
.../src/people3dtracker/CMakeLists.txt | 1 -
.../src/people3dtracker/src/main.cpp | 61 ++++---
.../src/personmanager/CMakeLists.txt | 1 -
spring-mock-ws/src/personmanager/src/main.cpp | 79 +++++----
.../src/rgbdcamera_info/CMakeLists.txt | 3 +-
.../src/rgbdcamera_info/package.xml | 2 +-
.../src/rgbdcamera_info/src/main.cpp | 28 ++-
.../src/robotfunctionallayer/CMakeLists.txt | 1 -
.../src/robotfunctionallayer/src/main.cpp | 35 +++-
spring-mock-ws/src/robotgui/CMakeLists.txt | 1 -
spring-mock-ws/src/robotgui/src/main.cpp | 74 +++++---
.../robotnonverbalbehaviours/CMakeLists.txt | 1 -
.../src/robotnonverbalbehaviours/src/main.cpp | 97 +++++++----
.../src/robotutterances/CMakeLists.txt | 1 -
.../src/robotutterances/src/main.cpp | 40 +++--
spring-mock-ws/src/rosopenpose/CMakeLists.txt | 1 -
spring-mock-ws/src/rosopenpose/src/main.cpp | 40 +++--
.../src/sceneunderstanding/CMakeLists.txt | 1 -
.../src/sceneunderstanding/src/main.cpp | 40 +++--
.../src/semanticmapping/CMakeLists.txt | 1 -
.../src/semanticmapping/src/main.cpp | 53 ++++--
.../src/soundlocalisation/CMakeLists.txt | 1 -
.../src/soundlocalisation/package.xml | 2 +-
.../src/soundlocalisation/src/main.cpp | 35 +++-
.../src/speakerrecognition/CMakeLists.txt | 1 -
.../src/speakerrecognition/src/main.cpp | 40 +++--
.../src/speechdiarization/CMakeLists.txt | 1 -
.../src/speechdiarization/src/main.cpp | 40 +++--
.../src/speechsynthesis/CMakeLists.txt | 1 -
.../src/speechsynthesis/src/main.cpp | 40 +++--
.../src/springarchitecture/CMakeLists.txt | 52 +++---
.../launch/start_all.launch | 160 ++++++++++--------
.../launch/start_all_but_BIU.launch | 136 ++++++++-------
.../launch/start_all_but_CVUT.launch | 140 ++++++++-------
.../launch/start_all_but_ERM.launch | 156 +++++++++--------
.../launch/start_all_but_HWU.launch | 136 ++++++++-------
.../launch/start_all_but_INRIA.launch | 134 ++++++++-------
.../launch/start_all_but_Other.launch | 160 ++++++++++--------
.../launch/start_all_but_PAL.launch | 134 ++++++++-------
.../launch/start_all_but_UNITN.launch | 108 ++++++------
.../src/springarchitecture/package.xml | 52 +++---
.../src/userattention/CMakeLists.txt | 1 -
spring-mock-ws/src/userattention/src/main.cpp | 97 +++++++----
spring-mock-ws/src/usergaze/CMakeLists.txt | 1 -
spring-mock-ws/src/usergaze/src/main.cpp | 53 ++++--
.../src/visualslam3dmap/CMakeLists.txt | 2 +-
.../src/visualslam3dmap/package.xml | 1 +
.../src/visualslam3dmap/src/main.cpp | 59 +++++--
93 files changed, 2016 insertions(+), 1225 deletions(-)
diff --git a/spring-mock-ws/src/activityreco/CMakeLists.txt b/spring-mock-ws/src/activityreco/CMakeLists.txt
index 6ee05ee..a23b15a 100644
--- a/spring-mock-ws/src/activityreco/CMakeLists.txt
+++ b/spring-mock-ws/src/activityreco/CMakeLists.txt
@@ -10,7 +10,6 @@ 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/src/main.cpp b/spring-mock-ws/src/activityreco/src/main.cpp
index 095c233..a6ea591 100644
--- a/spring-mock-ws/src/activityreco/src/main.cpp
+++ b/spring-mock-ws/src/activityreco/src/main.cpp
@@ -25,28 +25,47 @@
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
-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);
-}
+class ActivityReco {
+ public:
+ ActivityReco(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "activityreco");
+ // ATTENTION: this topic is not defined in the architecture design
+ tfbodies_sub_ = nh->subscribe("tfbodies", 1, &ActivityReco::tfbodiesCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ gazedirection_sub_ = nh->subscribe("gazedirection", 1, &ActivityReco::gazedirectionCallback, this);
+
+ // ATTENTION: this topic is not defined in the architecture design
+ output_pub_ = nh->advertise<std_msgs::Empty>("output", 1);
+ }
+
+ ~ActivityReco() {}
- ros::NodeHandle n;
+ private:
+ 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);
+ }
- // 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::Subscriber tfbodies_sub_;
+ ros::Subscriber gazedirection_sub_;
+
+ ros::Publisher output_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "activityreco");
- // ATTENTION: this topic is not defined in the architecture design
- ros::Publisher output_pub = n.advertise<std_msgs::Empty>("output", 1);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto activityreco = ActivityReco(&private_node_handle_);
ROS_INFO("Node activityreco launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/asr/CMakeLists.txt b/spring-mock-ws/src/asr/CMakeLists.txt
index e40a4bd..ba82bc6 100644
--- a/spring-mock-ws/src/asr/CMakeLists.txt
+++ b/spring-mock-ws/src/asr/CMakeLists.txt
@@ -10,7 +10,6 @@ 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/src/main.cpp b/spring-mock-ws/src/asr/src/main.cpp
index c9e9c90..5c6db06 100644
--- a/spring-mock-ws/src/asr/src/main.cpp
+++ b/spring-mock-ws/src/asr/src/main.cpp
@@ -25,22 +25,40 @@
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
-void inputCallback(const std_msgs::Empty::ConstPtr& msg)
-{
- ROS_INFO_STREAM("asr: received message: " << msg);
-}
+class Asr {
+ public:
+ Asr(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "asr");
+ // ATTENTION: this topic is not defined in the architecture design
+ input_sub_ = nh->subscribe("input", 1, &Asr::inputCallback, this);
+
+ // ATTENTION: this topic is not defined in the architecture design
+ hvvoiceidspeech_pub_ = nh->advertise<std_msgs::Empty>("hvvoiceidspeech", 1);
+ }
+
+ ~Asr() {}
- ros::NodeHandle n;
+ private:
+ void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("asr: received message: " << msg);
+ }
- // ATTENTION: this topic is not defined in the architecture design
- ros::Subscriber input_sub = n.subscribe("input", 1, inputCallback);
+ ros::Subscriber input_sub_;
+
+ ros::Publisher hvvoiceidspeech_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "asr");
- // ATTENTION: this topic is not defined in the architecture design
- ros::Publisher hvvoiceidspeech_pub = n.advertise<std_msgs::Empty>("hvvoiceidspeech", 1);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto asr = Asr(&private_node_handle_);
ROS_INFO("Node asr launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/body2dpose/CMakeLists.txt b/spring-mock-ws/src/body2dpose/CMakeLists.txt
index 4c34e3d..5efe0a5 100644
--- a/spring-mock-ws/src/body2dpose/CMakeLists.txt
+++ b/spring-mock-ws/src/body2dpose/CMakeLists.txt
@@ -9,8 +9,8 @@ add_compile_options(-std=c++11)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
- std_msgs
- std_msgs
+ hri_msgs
+ sensor_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 ea09a52..c44a856 100644
--- a/spring-mock-ws/src/body2dpose/package.xml
+++ b/spring-mock-ws/src/body2dpose/package.xml
@@ -50,7 +50,8 @@
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roscpp</exec_depend>
- <depend>std_msgs</depend>
+ <depend>hri_msgs</depend>
+ <depend>sensor_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/body2dpose/src/main.cpp b/spring-mock-ws/src/body2dpose/src/main.cpp
index 83230de..91cb381 100644
--- a/spring-mock-ws/src/body2dpose/src/main.cpp
+++ b/spring-mock-ws/src/body2dpose/src/main.cpp
@@ -23,30 +23,48 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "std_msgs/Empty.h"
+#include "sensor_msgs/Image.h"
+#include "hri_msgs/RegionOfInterestStamped.h"
+#include "hri_msgs/Skeleton2D.h"
-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);
-}
+class Body2dPose {
+ public:
+ Body2dPose(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "body2dpose");
+ image_raw_sub_ = nh->subscribe("image_raw", 1, &Body2dPose::image_rawCallback, this);
+ body_roi_sub_ = nh->subscribe("body_roi", 1, &Body2dPose::body_roiCallback, this);
+
+ body_skeleton2d_pub_ = nh->advertise<hri_msgs::Skeleton2D>("body_skeleton2d", 1);
+ }
+
+ ~Body2dPose() {}
- ros::NodeHandle n;
+ private:
+ void image_rawCallback(const sensor_msgs::Image::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("body2dpose: received message: " << msg);
+ }
+ void body_roiCallback(const hri_msgs::RegionOfInterestStamped::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("body2dpose: received message: " << 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::Subscriber image_raw_sub_;
+ ros::Subscriber body_roi_sub_;
+
+ ros::Publisher body_skeleton2d_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "body2dpose");
- // ATTENTION: this topic is not defined in the architecture design
- ros::Publisher hbbodyidskel2d_pub = n.advertise<std_msgs::Empty>("hbbodyidskel2d", 1);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto body2dpose = Body2dPose(&private_node_handle_);
ROS_INFO("Node body2dpose launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/demographics/CMakeLists.txt b/spring-mock-ws/src/demographics/CMakeLists.txt
index 0e44c6d..7b1bcdc 100644
--- a/spring-mock-ws/src/demographics/CMakeLists.txt
+++ b/spring-mock-ws/src/demographics/CMakeLists.txt
@@ -9,8 +9,7 @@ add_compile_options(-std=c++11)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
- std_msgs
- std_msgs
+ hri_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 2ed4b32..2f9e3b0 100644
--- a/spring-mock-ws/src/demographics/package.xml
+++ b/spring-mock-ws/src/demographics/package.xml
@@ -50,7 +50,7 @@
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roscpp</exec_depend>
- <depend>std_msgs</depend>
+ <depend>hri_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/demographics/src/main.cpp b/spring-mock-ws/src/demographics/src/main.cpp
index 3494027..0bce1b8 100644
--- a/spring-mock-ws/src/demographics/src/main.cpp
+++ b/spring-mock-ws/src/demographics/src/main.cpp
@@ -23,24 +23,41 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "std_msgs/Empty.h"
+#include "hri_msgs/AgeAndGender.h"
+#include "hri_msgs/RegionOfInterestStamped.h"
-void facesCallback(const std_msgs::Empty::ConstPtr& msg)
-{
- ROS_INFO_STREAM("demographics: received message: " << msg);
-}
+class Demographics {
+ public:
+ Demographics(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "demographics");
+ face_roi_sub_ = nh->subscribe("face_roi", 1, &Demographics::face_roiCallback, this);
+
+ face_demographics_pub_ = nh->advertise<hri_msgs::AgeAndGender>("face_demographics", 1);
+ }
+
+ ~Demographics() {}
- ros::NodeHandle n;
+ private:
+ void face_roiCallback(const hri_msgs::RegionOfInterestStamped::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("demographics: received message: " << msg);
+ }
- // ATTENTION: this topic is not defined in the architecture design
- ros::Subscriber faces_sub = n.subscribe("faces", 1, facesCallback);
+ ros::Subscriber face_roi_sub_;
+
+ ros::Publisher face_demographics_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "demographics");
- // ATTENTION: this topic is not defined in the architecture design
- ros::Publisher hffaceiddemographics_pub = n.advertise<std_msgs::Empty>("hffaceiddemographics", 1);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto demographics = Demographics(&private_node_handle_);
ROS_INFO("Node demographics launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/dialoguemanager/CMakeLists.txt b/spring-mock-ws/src/dialoguemanager/CMakeLists.txt
index e39948e..404f1ed 100644
--- a/spring-mock-ws/src/dialoguemanager/CMakeLists.txt
+++ b/spring-mock-ws/src/dialoguemanager/CMakeLists.txt
@@ -10,7 +10,6 @@ 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/src/main.cpp b/spring-mock-ws/src/dialoguemanager/src/main.cpp
index 7a9de56..8dcfaae 100644
--- a/spring-mock-ws/src/dialoguemanager/src/main.cpp
+++ b/spring-mock-ws/src/dialoguemanager/src/main.cpp
@@ -25,30 +25,50 @@
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
-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);
-}
+class DialogueManager {
+ public:
+ DialogueManager(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "dialoguemanager");
+ // ATTENTION: this topic is not defined in the architecture design
+ interactionmessages_sub_ = nh->subscribe("interactionmessages", 1, &DialogueManager::interactionmessagesCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ speech_sub_ = nh->subscribe("speech", 1, &DialogueManager::speechCallback, this);
+
+ // ATTENTION: this topic is not defined in the architecture design
+ dialoguestate_pub_ = nh->advertise<std_msgs::Empty>("dialoguestate", 1);
+ // ATTENTION: this topic is not defined in the architecture design
+ nextutterance_pub_ = nh->advertise<std_msgs::Empty>("nextutterance", 1);
+ }
+
+ ~DialogueManager() {}
- ros::NodeHandle n;
+ private:
+ 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);
+ }
- // 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::Subscriber interactionmessages_sub_;
+ ros::Subscriber speech_sub_;
+
+ ros::Publisher dialoguestate_pub_;
+ ros::Publisher nextutterance_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "dialoguemanager");
- // 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);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto dialoguemanager = DialogueManager(&private_node_handle_);
ROS_INFO("Node dialoguemanager launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/facedetection/CMakeLists.txt b/spring-mock-ws/src/facedetection/CMakeLists.txt
index 487d64c..5630430 100644
--- a/spring-mock-ws/src/facedetection/CMakeLists.txt
+++ b/spring-mock-ws/src/facedetection/CMakeLists.txt
@@ -9,8 +9,8 @@ add_compile_options(-std=c++11)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
- std_msgs
- std_msgs
+ hri_msgs
+ sensor_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 3ecd5da..099c9cb 100644
--- a/spring-mock-ws/src/facedetection/package.xml
+++ b/spring-mock-ws/src/facedetection/package.xml
@@ -50,7 +50,8 @@
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roscpp</exec_depend>
- <depend>std_msgs</depend>
+ <depend>hri_msgs</depend>
+ <depend>sensor_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/facedetection/src/main.cpp b/spring-mock-ws/src/facedetection/src/main.cpp
index b911b8b..60f8bd3 100644
--- a/spring-mock-ws/src/facedetection/src/main.cpp
+++ b/spring-mock-ws/src/facedetection/src/main.cpp
@@ -23,24 +23,41 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "std_msgs/Empty.h"
+#include "sensor_msgs/Image.h"
+#include "hri_msgs/RegionOfInterestStamped.h"
-void imagesCallback(const std_msgs::Empty::ConstPtr& msg)
-{
- ROS_INFO_STREAM("facedetection: received message: " << msg);
-}
+class FaceDetection {
+ public:
+ FaceDetection(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "facedetection");
+ image_raw_sub_ = nh->subscribe("image_raw", 1, &FaceDetection::image_rawCallback, this);
+
+ face_roi_pub_ = nh->advertise<hri_msgs::RegionOfInterestStamped>("face_roi", 1);
+ }
+
+ ~FaceDetection() {}
- ros::NodeHandle n;
+ private:
+ void image_rawCallback(const sensor_msgs::Image::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("facedetection: received message: " << msg);
+ }
- // ATTENTION: this topic is not defined in the architecture design
- ros::Subscriber images_sub = n.subscribe("images", 1, imagesCallback);
+ ros::Subscriber image_raw_sub_;
+
+ ros::Publisher face_roi_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "facedetection");
- // ATTENTION: this topic is not defined in the architecture design
- ros::Publisher hffaceidroi_pub = n.advertise<std_msgs::Empty>("hffaceidroi", 1);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto facedetection = FaceDetection(&private_node_handle_);
ROS_INFO("Node facedetection launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/facerecognition/CMakeLists.txt b/spring-mock-ws/src/facerecognition/CMakeLists.txt
index 72206f7..653c624 100644
--- a/spring-mock-ws/src/facerecognition/CMakeLists.txt
+++ b/spring-mock-ws/src/facerecognition/CMakeLists.txt
@@ -9,7 +9,7 @@ add_compile_options(-std=c++11)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
- std_msgs
+ hri_msgs
std_msgs
)
diff --git a/spring-mock-ws/src/facerecognition/package.xml b/spring-mock-ws/src/facerecognition/package.xml
index 6ac3355..8ed74f7 100644
--- a/spring-mock-ws/src/facerecognition/package.xml
+++ b/spring-mock-ws/src/facerecognition/package.xml
@@ -50,6 +50,7 @@
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roscpp</exec_depend>
+ <depend>hri_msgs</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 bb1301a..54d0d85 100644
--- a/spring-mock-ws/src/facerecognition/src/main.cpp
+++ b/spring-mock-ws/src/facerecognition/src/main.cpp
@@ -23,24 +23,42 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
+#include "hri_msgs/RegionOfInterestStamped.h"
#include "std_msgs/Empty.h"
-void facesCallback(const std_msgs::Empty::ConstPtr& msg)
-{
- ROS_INFO_STREAM("facerecognition: received message: " << msg);
-}
+class FaceRecognition {
+ public:
+ FaceRecognition(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "facerecognition");
+ face_roi_sub_ = nh->subscribe("face_roi", 1, &FaceRecognition::face_roiCallback, this);
+
+ // ATTENTION: this topic is not defined in the architecture design
+ personid_pub_ = nh->advertise<std_msgs::Empty>("personid", 1);
+ }
+
+ ~FaceRecognition() {}
- ros::NodeHandle n;
+ private:
+ void face_roiCallback(const hri_msgs::RegionOfInterestStamped::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("facerecognition: received message: " << msg);
+ }
- // ATTENTION: this topic is not defined in the architecture design
- ros::Subscriber faces_sub = n.subscribe("faces", 1, facesCallback);
+ ros::Subscriber face_roi_sub_;
+
+ ros::Publisher personid_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "facerecognition");
- // ATTENTION: this topic is not defined in the architecture design
- ros::Publisher personid_pub = n.advertise<std_msgs::Empty>("personid", 1);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto facerecognition = FaceRecognition(&private_node_handle_);
ROS_INFO("Node facerecognition launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/fformation/CMakeLists.txt b/spring-mock-ws/src/fformation/CMakeLists.txt
index a18b716..3a85f87 100644
--- a/spring-mock-ws/src/fformation/CMakeLists.txt
+++ b/spring-mock-ws/src/fformation/CMakeLists.txt
@@ -9,9 +9,8 @@ add_compile_options(-std=c++11)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
- std_msgs
- tf
hri_msgs
+ tf
)
## 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 bac7ba0..7d87b4c 100644
--- a/spring-mock-ws/src/fformation/package.xml
+++ b/spring-mock-ws/src/fformation/package.xml
@@ -50,8 +50,8 @@
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roscpp</exec_depend>
- <depend>tf</depend>
<depend>hri_msgs</depend>
+ <depend>tf</depend>
<export>
diff --git a/spring-mock-ws/src/fformation/src/main.cpp b/spring-mock-ws/src/fformation/src/main.cpp
index 44c366e..0f61ff9 100644
--- a/spring-mock-ws/src/fformation/src/main.cpp
+++ b/spring-mock-ws/src/fformation/src/main.cpp
@@ -26,15 +26,32 @@
#include "tf/transform_listener.h"
#include "hri_msgs/GroupsStamped.h"
+class Fformation {
+ public:
+ Fformation(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "fformation");
- ros::NodeHandle n;
+ groups_pub_ = nh->advertise<hri_msgs::GroupsStamped>("groups", 1);
+ }
+
+ ~Fformation() {}
+
+ private:
+
+ ros::Publisher groups_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "fformation");
- ros::Publisher groups_pub = n.advertise<hri_msgs::GroupsStamped>("groups", 1);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto fformation = Fformation(&private_node_handle_);
ROS_INFO("Node fformation launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/fisheyestereorgbhead/CMakeLists.txt b/spring-mock-ws/src/fisheyestereorgbhead/CMakeLists.txt
index 4ee9c6c..7567a0f 100644
--- a/spring-mock-ws/src/fisheyestereorgbhead/CMakeLists.txt
+++ b/spring-mock-ws/src/fisheyestereorgbhead/CMakeLists.txt
@@ -9,8 +9,7 @@ add_compile_options(-std=c++11)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
- std_msgs
- std_msgs
+ sensor_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 f508130..8649710 100644
--- a/spring-mock-ws/src/fisheyestereorgbhead/package.xml
+++ b/spring-mock-ws/src/fisheyestereorgbhead/package.xml
@@ -50,7 +50,7 @@
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roscpp</exec_depend>
- <depend>std_msgs</depend>
+ <depend>sensor_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/fisheyestereorgbhead/src/main.cpp b/spring-mock-ws/src/fisheyestereorgbhead/src/main.cpp
index a1a1bfa..b87ca44 100644
--- a/spring-mock-ws/src/fisheyestereorgbhead/src/main.cpp
+++ b/spring-mock-ws/src/fisheyestereorgbhead/src/main.cpp
@@ -23,18 +23,34 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "std_msgs/Empty.h"
+#include "sensor_msgs/Image.h"
+class FisheyeStereoRgbHead {
+ public:
+ FisheyeStereoRgbHead(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "fisheyestereorgbhead");
- ros::NodeHandle n;
+ image_raw_pub_ = nh->advertise<sensor_msgs::Image>("image_raw", 1);
+ }
+
+ ~FisheyeStereoRgbHead() {}
+
+ private:
+
+ ros::Publisher image_raw_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "fisheyestereorgbhead");
- // ATTENTION: this topic is not defined in the architecture design
- ros::Publisher images_pub = n.advertise<std_msgs::Empty>("images", 1);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto fisheyestereorgbhead = FisheyeStereoRgbHead(&private_node_handle_);
ROS_INFO("Node fisheyestereorgbhead launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/highlevelplanner/CMakeLists.txt b/spring-mock-ws/src/highlevelplanner/CMakeLists.txt
index 2d8426c..b69b7b3 100644
--- a/spring-mock-ws/src/highlevelplanner/CMakeLists.txt
+++ b/spring-mock-ws/src/highlevelplanner/CMakeLists.txt
@@ -10,7 +10,6 @@ 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/src/main.cpp b/spring-mock-ws/src/highlevelplanner/src/main.cpp
index 6923cd1..bc526aa 100644
--- a/spring-mock-ws/src/highlevelplanner/src/main.cpp
+++ b/spring-mock-ws/src/highlevelplanner/src/main.cpp
@@ -25,44 +25,67 @@
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
-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);
-}
+class HighlevelPlanner {
+ public:
+ HighlevelPlanner(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "highlevelplanner");
+ // ATTENTION: this topic is not defined in the architecture design
+ demographics_sub_ = nh->subscribe("demographics", 1, &HighlevelPlanner::demographicsCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ semanticscenedescription_sub_ = nh->subscribe("semanticscenedescription", 1, &HighlevelPlanner::semanticscenedescriptionCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ dialoguestate_sub_ = nh->subscribe("dialoguestate", 1, &HighlevelPlanner::dialoguestateCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ tfpersons_sub_ = nh->subscribe("tfpersons", 1, &HighlevelPlanner::tfpersonsCallback, this);
+
+ // ATTENTION: this topic is not defined in the architecture design
+ interactionstate_pub_ = nh->advertise<std_msgs::Empty>("interactionstate", 1);
+ // ATTENTION: this topic is not defined in the architecture design
+ output_pub_ = nh->advertise<std_msgs::Empty>("output", 1);
+ // ATTENTION: this topic is not defined in the architecture design
+ navgoals_pub_ = nh->advertise<std_msgs::Empty>("navgoals", 1);
+ }
- ros::NodeHandle n;
+ ~HighlevelPlanner() {}
- // 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);
+ private:
+ 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);
+ }
+ 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);
+ }
+
+ ros::Subscriber demographics_sub_;
+ ros::Subscriber semanticscenedescription_sub_;
+ ros::Subscriber dialoguestate_sub_;
+ ros::Subscriber tfpersons_sub_;
+
+ ros::Publisher interactionstate_pub_;
+ ros::Publisher output_pub_;
+ ros::Publisher navgoals_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "highlevelplanner");
- // 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);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto highlevelplanner = HighlevelPlanner(&private_node_handle_);
ROS_INFO("Node highlevelplanner launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/interactionmanager/CMakeLists.txt b/spring-mock-ws/src/interactionmanager/CMakeLists.txt
index 3e12074..3697c50 100644
--- a/spring-mock-ws/src/interactionmanager/CMakeLists.txt
+++ b/spring-mock-ws/src/interactionmanager/CMakeLists.txt
@@ -10,7 +10,6 @@ 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/src/main.cpp b/spring-mock-ws/src/interactionmanager/src/main.cpp
index 23d7999..9fb430a 100644
--- a/spring-mock-ws/src/interactionmanager/src/main.cpp
+++ b/spring-mock-ws/src/interactionmanager/src/main.cpp
@@ -25,60 +25,87 @@
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
-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);
-}
+class InteractionManager {
+ public:
+ InteractionManager(ros::NodeHandle* nh) {
+
+ // ATTENTION: this topic is not defined in the architecture design
+ input_sub_ = nh->subscribe("input", 1, &InteractionManager::inputCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ hppersonid_sub_ = nh->subscribe("hppersonid", 1, &InteractionManager::hppersonidCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ tf_sub_ = nh->subscribe("tf", 1, &InteractionManager::tfCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ semanticscenedescription_sub_ = nh->subscribe("semanticscenedescription", 1, &InteractionManager::semanticscenedescriptionCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ dialoguestate_sub_ = nh->subscribe("dialoguestate", 1, &InteractionManager::dialoguestateCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ robotstate_sub_ = nh->subscribe("robotstate", 1, &InteractionManager::robotstateCallback, this);
+
+ // ATTENTION: this topic is not defined in the architecture design
+ navgoals_pub_ = nh->advertise<std_msgs::Empty>("navgoals", 1);
+ // ATTENTION: this topic is not defined in the architecture design
+ activepersonid_pub_ = nh->advertise<std_msgs::Empty>("activepersonid", 1);
+ // ATTENTION: this topic is not defined in the architecture design
+ verbalcommand_pub_ = nh->advertise<std_msgs::Empty>("verbalcommand", 1);
+ // ATTENTION: this topic is not defined in the architecture design
+ gestures_pub_ = nh->advertise<std_msgs::Empty>("gestures", 1);
+ // ATTENTION: this topic is not defined in the architecture design
+ whotolookat_pub_ = nh->advertise<std_msgs::Empty>("whotolookat", 1);
+ }
+
+ ~InteractionManager() {}
+
+ private:
+ 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);
+ }
+
+ ros::Subscriber input_sub_;
+ ros::Subscriber hppersonid_sub_;
+ ros::Subscriber tf_sub_;
+ ros::Subscriber semanticscenedescription_sub_;
+ ros::Subscriber dialoguestate_sub_;
+ ros::Subscriber robotstate_sub_;
+
+ ros::Publisher navgoals_pub_;
+ ros::Publisher activepersonid_pub_;
+ ros::Publisher verbalcommand_pub_;
+ ros::Publisher gestures_pub_;
+ ros::Publisher whotolookat_pub_;
+
+};
-int main(int argc, char **argv) {
+int main(int argc, char** argv) {
ros::init(argc, argv, "interactionmanager");
- ros::NodeHandle n;
-
- // 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);
-
- // 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);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto interactionmanager = InteractionManager(&private_node_handle_);
ROS_INFO("Node interactionmanager launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/maskdetection/CMakeLists.txt b/spring-mock-ws/src/maskdetection/CMakeLists.txt
index c8a41da..6db3b6d 100644
--- a/spring-mock-ws/src/maskdetection/CMakeLists.txt
+++ b/spring-mock-ws/src/maskdetection/CMakeLists.txt
@@ -9,7 +9,7 @@ add_compile_options(-std=c++11)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
- std_msgs
+ hri_msgs
std_msgs
)
diff --git a/spring-mock-ws/src/maskdetection/package.xml b/spring-mock-ws/src/maskdetection/package.xml
index 69d0dd8..2081072 100644
--- a/spring-mock-ws/src/maskdetection/package.xml
+++ b/spring-mock-ws/src/maskdetection/package.xml
@@ -50,6 +50,7 @@
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roscpp</exec_depend>
+ <depend>hri_msgs</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 e7d813d..9d22397 100644
--- a/spring-mock-ws/src/maskdetection/src/main.cpp
+++ b/spring-mock-ws/src/maskdetection/src/main.cpp
@@ -23,24 +23,41 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "std_msgs/Empty.h"
+#include "hri_msgs/RegionOfInterestStamped.h"
+#include "std_msgs/Bool.h"
-void facesCallback(const std_msgs::Empty::ConstPtr& msg)
-{
- ROS_INFO_STREAM("maskdetection: received message: " << msg);
-}
+class MaskDetection {
+ public:
+ MaskDetection(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "maskdetection");
+ roi_sub_ = nh->subscribe("roi", 1, &MaskDetection::roiCallback, this);
+
+ face_mask_pub_ = nh->advertise<std_msgs::Bool>("face_mask", 1);
+ }
+
+ ~MaskDetection() {}
- ros::NodeHandle n;
+ private:
+ void roiCallback(const hri_msgs::RegionOfInterestStamped::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("maskdetection: received message: " << msg);
+ }
- // ATTENTION: this topic is not defined in the architecture design
- ros::Subscriber faces_sub = n.subscribe("faces", 1, facesCallback);
+ ros::Subscriber roi_sub_;
+
+ ros::Publisher face_mask_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "maskdetection");
- // ATTENTION: this topic is not defined in the architecture design
- ros::Publisher hffaceidmask_pub = n.advertise<std_msgs::Empty>("hffaceidmask", 1);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto maskdetection = MaskDetection(&private_node_handle_);
ROS_INFO("Node maskdetection launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/multipeopletracker/CMakeLists.txt b/spring-mock-ws/src/multipeopletracker/CMakeLists.txt
index 5c92026..bdee971 100644
--- a/spring-mock-ws/src/multipeopletracker/CMakeLists.txt
+++ b/spring-mock-ws/src/multipeopletracker/CMakeLists.txt
@@ -9,8 +9,8 @@ add_compile_options(-std=c++11)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
- std_msgs
- std_msgs
+ hri_msgs
+ sensor_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 80249ab..4a01e70 100644
--- a/spring-mock-ws/src/multipeopletracker/package.xml
+++ b/spring-mock-ws/src/multipeopletracker/package.xml
@@ -50,7 +50,8 @@
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roscpp</exec_depend>
- <depend>std_msgs</depend>
+ <depend>hri_msgs</depend>
+ <depend>sensor_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/multipeopletracker/src/main.cpp b/spring-mock-ws/src/multipeopletracker/src/main.cpp
index 1c20142..4f4f4ab 100644
--- a/spring-mock-ws/src/multipeopletracker/src/main.cpp
+++ b/spring-mock-ws/src/multipeopletracker/src/main.cpp
@@ -23,24 +23,41 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "std_msgs/Empty.h"
+#include "sensor_msgs/Image.h"
+#include "hri_msgs/RegionOfInterestStamped.h"
-void imagesCallback(const std_msgs::Empty::ConstPtr& msg)
-{
- ROS_INFO_STREAM("multipeopletracker: received message: " << msg);
-}
+class MultipeopleTracker {
+ public:
+ MultipeopleTracker(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "multipeopletracker");
+ image_raw_sub_ = nh->subscribe("image_raw", 1, &MultipeopleTracker::image_rawCallback, this);
+
+ body_roi_pub_ = nh->advertise<hri_msgs::RegionOfInterestStamped>("body_roi", 1);
+ }
+
+ ~MultipeopleTracker() {}
- ros::NodeHandle n;
+ private:
+ void image_rawCallback(const sensor_msgs::Image::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("multipeopletracker: received message: " << msg);
+ }
- // ATTENTION: this topic is not defined in the architecture design
- ros::Subscriber images_sub = n.subscribe("images", 1, imagesCallback);
+ ros::Subscriber image_raw_sub_;
+
+ ros::Publisher body_roi_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "multipeopletracker");
- // ATTENTION: this topic is not defined in the architecture design
- ros::Publisher hbbodyidroi_pub = n.advertise<std_msgs::Empty>("hbbodyidroi", 1);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto multipeopletracker = MultipeopleTracker(&private_node_handle_);
ROS_INFO("Node multipeopletracker launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/nonverbalbehaviours/CMakeLists.txt b/spring-mock-ws/src/nonverbalbehaviours/CMakeLists.txt
index d9c90ed..dcb3091 100644
--- a/spring-mock-ws/src/nonverbalbehaviours/CMakeLists.txt
+++ b/spring-mock-ws/src/nonverbalbehaviours/CMakeLists.txt
@@ -10,7 +10,6 @@ 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/src/main.cpp b/spring-mock-ws/src/nonverbalbehaviours/src/main.cpp
index e530e4b..97f6f1c 100644
--- a/spring-mock-ws/src/nonverbalbehaviours/src/main.cpp
+++ b/spring-mock-ws/src/nonverbalbehaviours/src/main.cpp
@@ -25,34 +25,54 @@
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
-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);
-}
+class NonverbalBehaviours {
+ public:
+ NonverbalBehaviours(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "nonverbalbehaviours");
+ // ATTENTION: this topic is not defined in the architecture design
+ voices_sub_ = nh->subscribe("voices", 1, &NonverbalBehaviours::voicesCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ facevoicemapping_sub_ = nh->subscribe("facevoicemapping", 1, &NonverbalBehaviours::facevoicemappingCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ faces_sub_ = nh->subscribe("faces", 1, &NonverbalBehaviours::facesCallback, this);
+
+ // ATTENTION: this topic is not defined in the architecture design
+ hppersonidexpression_pub_ = nh->advertise<std_msgs::Empty>("hppersonidexpression", 1);
+ }
- ros::NodeHandle n;
+ ~NonverbalBehaviours() {}
- // 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);
+ private:
+ void voicesCallback(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 facesCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("nonverbalbehaviours: received message: " << msg);
+ }
+
+ ros::Subscriber voices_sub_;
+ ros::Subscriber facevoicemapping_sub_;
+ ros::Subscriber faces_sub_;
+
+ ros::Publisher hppersonidexpression_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "nonverbalbehaviours");
- // ATTENTION: this topic is not defined in the architecture design
- ros::Publisher hppersonidexpression_pub = n.advertise<std_msgs::Empty>("hppersonidexpression", 1);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto nonverbalbehaviours = NonverbalBehaviours(&private_node_handle_);
ROS_INFO("Node nonverbalbehaviours launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/objectdetectionidentificationlocalisation/CMakeLists.txt b/spring-mock-ws/src/objectdetectionidentificationlocalisation/CMakeLists.txt
index 78447bb..2af654d 100644
--- a/spring-mock-ws/src/objectdetectionidentificationlocalisation/CMakeLists.txt
+++ b/spring-mock-ws/src/objectdetectionidentificationlocalisation/CMakeLists.txt
@@ -9,7 +9,7 @@ add_compile_options(-std=c++11)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
- std_msgs
+ sensor_msgs
std_msgs
)
diff --git a/spring-mock-ws/src/objectdetectionidentificationlocalisation/package.xml b/spring-mock-ws/src/objectdetectionidentificationlocalisation/package.xml
index 178faae..3967d70 100644
--- a/spring-mock-ws/src/objectdetectionidentificationlocalisation/package.xml
+++ b/spring-mock-ws/src/objectdetectionidentificationlocalisation/package.xml
@@ -50,6 +50,7 @@
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roscpp</exec_depend>
+ <depend>sensor_msgs</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 56af823..942e770 100644
--- a/spring-mock-ws/src/objectdetectionidentificationlocalisation/src/main.cpp
+++ b/spring-mock-ws/src/objectdetectionidentificationlocalisation/src/main.cpp
@@ -24,23 +24,41 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
+#include "sensor_msgs/Image.h"
-void videoCallback(const std_msgs::Empty::ConstPtr& msg)
-{
- ROS_INFO_STREAM("objectdetectionidentificationlocalisation: received message: " << msg);
-}
+class ObjectDetectionidentificationlocalisation {
+ public:
+ ObjectDetectionidentificationlocalisation(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "objectdetectionidentificationlocalisation");
+ image_raw_sub_ = nh->subscribe("image_raw", 1, &ObjectDetectionidentificationlocalisation::image_rawCallback, this);
+
+ // ATTENTION: this topic is not defined in the architecture design
+ tbddetected_objectsspring_msgsobjects_pub_ = nh->advertise<std_msgs::Empty>("tbddetected_objectsspring_msgsobjects", 1);
+ }
+
+ ~ObjectDetectionidentificationlocalisation() {}
- ros::NodeHandle n;
+ private:
+ void image_rawCallback(const sensor_msgs::Image::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("objectdetectionidentificationlocalisation: received message: " << msg);
+ }
- // ATTENTION: this topic is not defined in the architecture design
- ros::Subscriber video_sub = n.subscribe("video", 1, videoCallback);
+ ros::Subscriber image_raw_sub_;
+
+ ros::Publisher tbddetected_objectsspring_msgsobjects_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "objectdetectionidentificationlocalisation");
- // ATTENTION: this topic is not defined in the architecture design
- ros::Publisher detected_objectslabel6dpos_pub = n.advertise<std_msgs::Empty>("detected_objectslabel6dpos", 1);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto objectdetectionidentificationlocalisation = ObjectDetectionidentificationlocalisation(&private_node_handle_);
ROS_INFO("Node objectdetectionidentificationlocalisation launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/occupancymap/CMakeLists.txt b/spring-mock-ws/src/occupancymap/CMakeLists.txt
index b06e4ce..c0d9e2f 100644
--- a/spring-mock-ws/src/occupancymap/CMakeLists.txt
+++ b/spring-mock-ws/src/occupancymap/CMakeLists.txt
@@ -9,7 +9,7 @@ add_compile_options(-std=c++11)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
- std_msgs
+ nav_msgs
std_msgs
)
diff --git a/spring-mock-ws/src/occupancymap/package.xml b/spring-mock-ws/src/occupancymap/package.xml
index 98ce876..4cd5099 100644
--- a/spring-mock-ws/src/occupancymap/package.xml
+++ b/spring-mock-ws/src/occupancymap/package.xml
@@ -50,6 +50,7 @@
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roscpp</exec_depend>
+ <depend>nav_msgs</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 63dd3ba..28588ae 100644
--- a/spring-mock-ws/src/occupancymap/src/main.cpp
+++ b/spring-mock-ws/src/occupancymap/src/main.cpp
@@ -24,29 +24,48 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
+#include "nav_msgs/OccupancyGrid.h"
-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);
-}
+class OccupancyMap {
+ public:
+ OccupancyMap(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "occupancymap");
+ // ATTENTION: this topic is not defined in the architecture design
+ tfbodies_sub_ = nh->subscribe("tfbodies", 1, &OccupancyMap::tfbodiesCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ dense3dmap_sub_ = nh->subscribe("dense3dmap", 1, &OccupancyMap::dense3dmapCallback, this);
+
+ map_refined_pub_ = nh->advertise<nav_msgs::OccupancyGrid>("map_refined", 1);
+ }
+
+ ~OccupancyMap() {}
- ros::NodeHandle n;
+ private:
+ 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);
+ }
- // 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::Subscriber tfbodies_sub_;
+ ros::Subscriber dense3dmap_sub_;
+
+ ros::Publisher map_refined_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "occupancymap");
- // ATTENTION: this topic is not defined in the architecture design
- ros::Publisher nav_msgsoccupancygrid_pub = n.advertise<std_msgs::Empty>("nav_msgsoccupancygrid", 1);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto occupancymap = OccupancyMap(&private_node_handle_);
ROS_INFO("Node occupancymap launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/orbslam/CMakeLists.txt b/spring-mock-ws/src/orbslam/CMakeLists.txt
index 8337cf3..c2d5f4c 100644
--- a/spring-mock-ws/src/orbslam/CMakeLists.txt
+++ b/spring-mock-ws/src/orbslam/CMakeLists.txt
@@ -9,8 +9,8 @@ add_compile_options(-std=c++11)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
- std_msgs
- std_msgs
+ nav_msgs
+ sensor_msgs
tf
)
diff --git a/spring-mock-ws/src/orbslam/package.xml b/spring-mock-ws/src/orbslam/package.xml
index ab959bc..cb5eb7c 100644
--- a/spring-mock-ws/src/orbslam/package.xml
+++ b/spring-mock-ws/src/orbslam/package.xml
@@ -50,7 +50,8 @@
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roscpp</exec_depend>
- <depend>std_msgs</depend>
+ <depend>nav_msgs</depend>
+ <depend>sensor_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 9bef556..e4aa740 100644
--- a/spring-mock-ws/src/orbslam/src/main.cpp
+++ b/spring-mock-ws/src/orbslam/src/main.cpp
@@ -23,23 +23,42 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "std_msgs/Empty.h"
+#include "nav_msgs/OccupancyGrid.h"
#include "tf/transform_broadcaster.h"
+#include "sensor_msgs/Image.h"
-void inputCallback(const std_msgs::Empty::ConstPtr& msg)
-{
- ROS_INFO_STREAM("orbslam: received message: " << msg);
-}
+class OrbSlam {
+ public:
+ OrbSlam(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "orbslam");
+ image_raw_sub_ = nh->subscribe("image_raw", 1, &OrbSlam::image_rawCallback, this);
+
+ map_pub_ = nh->advertise<nav_msgs::OccupancyGrid>("map", 1);
+ }
+
+ ~OrbSlam() {}
- ros::NodeHandle n;
+ private:
+ void image_rawCallback(const sensor_msgs::Image::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("orbslam: received message: " << msg);
+ }
- // ATTENTION: this topic is not defined in the architecture design
- ros::Subscriber input_sub = n.subscribe("input", 1, inputCallback);
+ ros::Subscriber image_raw_sub_;
+
+ ros::Publisher map_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "orbslam");
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto orbslam = OrbSlam(&private_node_handle_);
ROS_INFO("Node orbslam launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/people3dtracker/CMakeLists.txt b/spring-mock-ws/src/people3dtracker/CMakeLists.txt
index 48f911b..3dd4815 100644
--- a/spring-mock-ws/src/people3dtracker/CMakeLists.txt
+++ b/spring-mock-ws/src/people3dtracker/CMakeLists.txt
@@ -10,7 +10,6 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
- std_msgs
tf
)
diff --git a/spring-mock-ws/src/people3dtracker/src/main.cpp b/spring-mock-ws/src/people3dtracker/src/main.cpp
index acc2aad..793b9cb 100644
--- a/spring-mock-ws/src/people3dtracker/src/main.cpp
+++ b/spring-mock-ws/src/people3dtracker/src/main.cpp
@@ -26,32 +26,51 @@
#include "std_msgs/Empty.h"
#include "tf/transform_broadcaster.h"
-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);
-}
+class People3dTracker {
+ public:
+ People3dTracker(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "people3dtracker");
+ // ATTENTION: this topic is not defined in the architecture design
+ groundplane_sub_ = nh->subscribe("groundplane", 1, &People3dTracker::groundplaneCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ feetposition_sub_ = nh->subscribe("feetposition", 1, &People3dTracker::feetpositionCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ peoplerois_sub_ = nh->subscribe("peoplerois", 1, &People3dTracker::peopleroisCallback, this);
+
+ }
- ros::NodeHandle n;
+ ~People3dTracker() {}
- // 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);
+ private:
+ void groundplaneCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("people3dtracker: received message: " << 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);
+ }
+
+ ros::Subscriber groundplane_sub_;
+ ros::Subscriber feetposition_sub_;
+ ros::Subscriber peoplerois_sub_;
+
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "people3dtracker");
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto people3dtracker = People3dTracker(&private_node_handle_);
ROS_INFO("Node people3dtracker launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/personmanager/CMakeLists.txt b/spring-mock-ws/src/personmanager/CMakeLists.txt
index 18e9b07..f7d36cf 100644
--- a/spring-mock-ws/src/personmanager/CMakeLists.txt
+++ b/spring-mock-ws/src/personmanager/CMakeLists.txt
@@ -10,7 +10,6 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
- std_msgs
tf
)
diff --git a/spring-mock-ws/src/personmanager/src/main.cpp b/spring-mock-ws/src/personmanager/src/main.cpp
index 97a2530..d221006 100644
--- a/spring-mock-ws/src/personmanager/src/main.cpp
+++ b/spring-mock-ws/src/personmanager/src/main.cpp
@@ -26,40 +26,61 @@
#include "std_msgs/Empty.h"
#include "tf/transform_broadcaster.h"
-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);
-}
+class PersonManager {
+ public:
+ PersonManager(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "personmanager");
+ // ATTENTION: this topic is not defined in the architecture design
+ tffaces_sub_ = nh->subscribe("tffaces", 1, &PersonManager::tffacesCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ tfvoices_sub_ = nh->subscribe("tfvoices", 1, &PersonManager::tfvoicesCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ matchers_sub_ = nh->subscribe("matchers", 1, &PersonManager::matchersCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ demographics_sub_ = nh->subscribe("demographics", 1, &PersonManager::demographicsCallback, this);
+
+ // ATTENTION: this topic is not defined in the architecture design
+ hppersonid_pub_ = nh->advertise<std_msgs::Empty>("hppersonid", 1);
+ }
- ros::NodeHandle n;
+ ~PersonManager() {}
- // 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);
+ private:
+ void tffacesCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("personmanager: received message: " << 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);
+ }
+
+ ros::Subscriber tffaces_sub_;
+ ros::Subscriber tfvoices_sub_;
+ ros::Subscriber matchers_sub_;
+ ros::Subscriber demographics_sub_;
+
+ ros::Publisher hppersonid_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "personmanager");
- // ATTENTION: this topic is not defined in the architecture design
- ros::Publisher hppersonid_pub = n.advertise<std_msgs::Empty>("hppersonid", 1);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto personmanager = PersonManager(&private_node_handle_);
ROS_INFO("Node personmanager launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/rgbdcamera_info/CMakeLists.txt b/spring-mock-ws/src/rgbdcamera_info/CMakeLists.txt
index 0da168d..9356934 100644
--- a/spring-mock-ws/src/rgbdcamera_info/CMakeLists.txt
+++ b/spring-mock-ws/src/rgbdcamera_info/CMakeLists.txt
@@ -9,8 +9,7 @@ add_compile_options(-std=c++11)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
- std_msgs
- std_msgs
+ sensor_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 1944c18..aeed318 100644
--- a/spring-mock-ws/src/rgbdcamera_info/package.xml
+++ b/spring-mock-ws/src/rgbdcamera_info/package.xml
@@ -50,7 +50,7 @@
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roscpp</exec_depend>
- <depend>std_msgs</depend>
+ <depend>sensor_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 210bf02..f07c4be 100644
--- a/spring-mock-ws/src/rgbdcamera_info/src/main.cpp
+++ b/spring-mock-ws/src/rgbdcamera_info/src/main.cpp
@@ -23,18 +23,34 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "std_msgs/Empty.h"
+#include "sensor_msgs/Image.h"
+class RgbdCamera_info {
+ public:
+ RgbdCamera_info(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "rgbdcamera_info");
- ros::NodeHandle n;
+ image_raw_pub_ = nh->advertise<sensor_msgs::Image>("image_raw", 1);
+ }
+
+ ~RgbdCamera_info() {}
+
+ private:
+
+ ros::Publisher image_raw_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "rgbdcamera_info");
- // ATTENTION: this topic is not defined in the architecture design
- ros::Publisher images_pub = n.advertise<std_msgs::Empty>("images", 1);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto rgbdcamera_info = RgbdCamera_info(&private_node_handle_);
ROS_INFO("Node rgbdcamera_info launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/robotfunctionallayer/CMakeLists.txt b/spring-mock-ws/src/robotfunctionallayer/CMakeLists.txt
index d4a4c90..bd81831 100644
--- a/spring-mock-ws/src/robotfunctionallayer/CMakeLists.txt
+++ b/spring-mock-ws/src/robotfunctionallayer/CMakeLists.txt
@@ -10,7 +10,6 @@ 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/src/main.cpp b/spring-mock-ws/src/robotfunctionallayer/src/main.cpp
index 7dab02e..707f29f 100644
--- a/spring-mock-ws/src/robotfunctionallayer/src/main.cpp
+++ b/spring-mock-ws/src/robotfunctionallayer/src/main.cpp
@@ -25,20 +25,37 @@
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
-void inputCallback(const std_msgs::Empty::ConstPtr& msg)
-{
- ROS_INFO_STREAM("robotfunctionallayer: received message: " << msg);
-}
+class RobotFunctionalLayer {
+ public:
+ RobotFunctionalLayer(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "robotfunctionallayer");
+ // ATTENTION: this topic is not defined in the architecture design
+ input_sub_ = nh->subscribe("input", 1, &RobotFunctionalLayer::inputCallback, this);
+
+ }
+
+ ~RobotFunctionalLayer() {}
- ros::NodeHandle n;
+ private:
+ void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("robotfunctionallayer: received message: " << msg);
+ }
- // ATTENTION: this topic is not defined in the architecture design
- ros::Subscriber input_sub = n.subscribe("input", 1, inputCallback);
+ ros::Subscriber input_sub_;
+
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "robotfunctionallayer");
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto robotfunctionallayer = RobotFunctionalLayer(&private_node_handle_);
ROS_INFO("Node robotfunctionallayer launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/robotgui/CMakeLists.txt b/spring-mock-ws/src/robotgui/CMakeLists.txt
index 2ff207f..e866568 100644
--- a/spring-mock-ws/src/robotgui/CMakeLists.txt
+++ b/spring-mock-ws/src/robotgui/CMakeLists.txt
@@ -10,7 +10,6 @@ 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/src/main.cpp b/spring-mock-ws/src/robotgui/src/main.cpp
index 1c904d3..dacc7b0 100644
--- a/spring-mock-ws/src/robotgui/src/main.cpp
+++ b/spring-mock-ws/src/robotgui/src/main.cpp
@@ -25,38 +25,58 @@
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
-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);
-}
+class RobotGui {
+ public:
+ RobotGui(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "robotgui");
+ // ATTENTION: this topic is not defined in the architecture design
+ additionalsupportmaterial_sub_ = nh->subscribe("additionalsupportmaterial", 1, &RobotGui::additionalsupportmaterialCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ ttsfeedback_sub_ = nh->subscribe("ttsfeedback", 1, &RobotGui::ttsfeedbackCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ speechoutput_sub_ = nh->subscribe("speechoutput", 1, &RobotGui::speechoutputCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ speechinput_sub_ = nh->subscribe("speechinput", 1, &RobotGui::speechinputCallback, this);
+
+ }
- ros::NodeHandle n;
+ ~RobotGui() {}
- // 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);
+ private:
+ void additionalsupportmaterialCallback(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);
+ }
+ 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);
+ }
+
+ ros::Subscriber additionalsupportmaterial_sub_;
+ ros::Subscriber ttsfeedback_sub_;
+ ros::Subscriber speechoutput_sub_;
+ ros::Subscriber speechinput_sub_;
+
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "robotgui");
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto robotgui = RobotGui(&private_node_handle_);
ROS_INFO("Node robotgui launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/robotnonverbalbehaviours/CMakeLists.txt b/spring-mock-ws/src/robotnonverbalbehaviours/CMakeLists.txt
index 47627e2..d422142 100644
--- a/spring-mock-ws/src/robotnonverbalbehaviours/CMakeLists.txt
+++ b/spring-mock-ws/src/robotnonverbalbehaviours/CMakeLists.txt
@@ -10,7 +10,6 @@ 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/src/main.cpp b/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp
index c03c568..fca33e4 100644
--- a/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp
+++ b/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp
@@ -25,48 +25,71 @@
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
-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);
-}
+class RobotNonverbalBehaviours {
+ public:
+ RobotNonverbalBehaviours(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "robotnonverbalbehaviours");
+ // ATTENTION: this topic is not defined in the architecture design
+ followingnavgoals_sub_ = nh->subscribe("followingnavgoals", 1, &RobotNonverbalBehaviours::followingnavgoalsCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ hppersonid_sub_ = nh->subscribe("hppersonid", 1, &RobotNonverbalBehaviours::hppersonidCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ status_sub_ = nh->subscribe("status", 1, &RobotNonverbalBehaviours::statusCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ occupancymap_sub_ = nh->subscribe("occupancymap", 1, &RobotNonverbalBehaviours::occupancymapCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ lookat_sub_ = nh->subscribe("lookat", 1, &RobotNonverbalBehaviours::lookatCallback, this);
- ros::NodeHandle n;
+ // ATTENTION: this topic is not defined in the architecture design
+ lowlevelactions_pub_ = nh->advertise<std_msgs::Empty>("lowlevelactions", 1);
+ // ATTENTION: this topic is not defined in the architecture design
+ status_pub_ = nh->advertise<std_msgs::Empty>("status", 1);
+ }
- // 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);
+ ~RobotNonverbalBehaviours() {}
+
+ private:
+ 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);
+ }
+
+ ros::Subscriber followingnavgoals_sub_;
+ ros::Subscriber hppersonid_sub_;
+ ros::Subscriber status_sub_;
+ ros::Subscriber occupancymap_sub_;
+ ros::Subscriber lookat_sub_;
+
+ ros::Publisher lowlevelactions_pub_;
+ ros::Publisher status_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "robotnonverbalbehaviours");
- // 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);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto robotnonverbalbehaviours = RobotNonverbalBehaviours(&private_node_handle_);
ROS_INFO("Node robotnonverbalbehaviours launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/robotutterances/CMakeLists.txt b/spring-mock-ws/src/robotutterances/CMakeLists.txt
index 569368a..f38e64c 100644
--- a/spring-mock-ws/src/robotutterances/CMakeLists.txt
+++ b/spring-mock-ws/src/robotutterances/CMakeLists.txt
@@ -10,7 +10,6 @@ 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/src/main.cpp b/spring-mock-ws/src/robotutterances/src/main.cpp
index f12ab7b..62607b9 100644
--- a/spring-mock-ws/src/robotutterances/src/main.cpp
+++ b/spring-mock-ws/src/robotutterances/src/main.cpp
@@ -25,22 +25,40 @@
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
-void inputCallback(const std_msgs::Empty::ConstPtr& msg)
-{
- ROS_INFO_STREAM("robotutterances: received message: " << msg);
-}
+class RobotUtterances {
+ public:
+ RobotUtterances(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "robotutterances");
+ // ATTENTION: this topic is not defined in the architecture design
+ input_sub_ = nh->subscribe("input", 1, &RobotUtterances::inputCallback, this);
+
+ // ATTENTION: this topic is not defined in the architecture design
+ speech_pub_ = nh->advertise<std_msgs::Empty>("speech", 1);
+ }
+
+ ~RobotUtterances() {}
- ros::NodeHandle n;
+ private:
+ void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("robotutterances: received message: " << msg);
+ }
- // ATTENTION: this topic is not defined in the architecture design
- ros::Subscriber input_sub = n.subscribe("input", 1, inputCallback);
+ ros::Subscriber input_sub_;
+
+ ros::Publisher speech_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "robotutterances");
- // ATTENTION: this topic is not defined in the architecture design
- ros::Publisher speech_pub = n.advertise<std_msgs::Empty>("speech", 1);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto robotutterances = RobotUtterances(&private_node_handle_);
ROS_INFO("Node robotutterances launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/rosopenpose/CMakeLists.txt b/spring-mock-ws/src/rosopenpose/CMakeLists.txt
index 4db52b7..0434fdc 100644
--- a/spring-mock-ws/src/rosopenpose/CMakeLists.txt
+++ b/spring-mock-ws/src/rosopenpose/CMakeLists.txt
@@ -10,7 +10,6 @@ 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/src/main.cpp b/spring-mock-ws/src/rosopenpose/src/main.cpp
index f00e22e..ecd2d75 100644
--- a/spring-mock-ws/src/rosopenpose/src/main.cpp
+++ b/spring-mock-ws/src/rosopenpose/src/main.cpp
@@ -25,22 +25,40 @@
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
-void inputCallback(const std_msgs::Empty::ConstPtr& msg)
-{
- ROS_INFO_STREAM("rosopenpose: received message: " << msg);
-}
+class RosOpenpose {
+ public:
+ RosOpenpose(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "rosopenpose");
+ // ATTENTION: this topic is not defined in the architecture design
+ input_sub_ = nh->subscribe("input", 1, &RosOpenpose::inputCallback, this);
+
+ // ATTENTION: this topic is not defined in the architecture design
+ output_pub_ = nh->advertise<std_msgs::Empty>("output", 1);
+ }
+
+ ~RosOpenpose() {}
- ros::NodeHandle n;
+ private:
+ void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("rosopenpose: received message: " << msg);
+ }
- // ATTENTION: this topic is not defined in the architecture design
- ros::Subscriber input_sub = n.subscribe("input", 1, inputCallback);
+ ros::Subscriber input_sub_;
+
+ ros::Publisher output_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "rosopenpose");
- // ATTENTION: this topic is not defined in the architecture design
- ros::Publisher output_pub = n.advertise<std_msgs::Empty>("output", 1);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto rosopenpose = RosOpenpose(&private_node_handle_);
ROS_INFO("Node rosopenpose launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/sceneunderstanding/CMakeLists.txt b/spring-mock-ws/src/sceneunderstanding/CMakeLists.txt
index 7e122b7..a422fd6 100644
--- a/spring-mock-ws/src/sceneunderstanding/CMakeLists.txt
+++ b/spring-mock-ws/src/sceneunderstanding/CMakeLists.txt
@@ -10,7 +10,6 @@ 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/src/main.cpp b/spring-mock-ws/src/sceneunderstanding/src/main.cpp
index 8022816..c5adb0f 100644
--- a/spring-mock-ws/src/sceneunderstanding/src/main.cpp
+++ b/spring-mock-ws/src/sceneunderstanding/src/main.cpp
@@ -25,22 +25,40 @@
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
-void scenegraphCallback(const std_msgs::Empty::ConstPtr& msg)
-{
- ROS_INFO_STREAM("sceneunderstanding: received message: " << msg);
-}
+class SceneUnderstanding {
+ public:
+ SceneUnderstanding(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "sceneunderstanding");
+ // ATTENTION: this topic is not defined in the architecture design
+ scenegraph_sub_ = nh->subscribe("scenegraph", 1, &SceneUnderstanding::scenegraphCallback, this);
+
+ // ATTENTION: this topic is not defined in the architecture design
+ semanticdescription_pub_ = nh->advertise<std_msgs::Empty>("semanticdescription", 1);
+ }
+
+ ~SceneUnderstanding() {}
- ros::NodeHandle n;
+ private:
+ void scenegraphCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("sceneunderstanding: received message: " << msg);
+ }
- // ATTENTION: this topic is not defined in the architecture design
- ros::Subscriber scenegraph_sub = n.subscribe("scenegraph", 1, scenegraphCallback);
+ ros::Subscriber scenegraph_sub_;
+
+ ros::Publisher semanticdescription_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "sceneunderstanding");
- // ATTENTION: this topic is not defined in the architecture design
- ros::Publisher semanticdescription_pub = n.advertise<std_msgs::Empty>("semanticdescription", 1);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto sceneunderstanding = SceneUnderstanding(&private_node_handle_);
ROS_INFO("Node sceneunderstanding launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/semanticmapping/CMakeLists.txt b/spring-mock-ws/src/semanticmapping/CMakeLists.txt
index b599de5..44e6bcb 100644
--- a/spring-mock-ws/src/semanticmapping/CMakeLists.txt
+++ b/spring-mock-ws/src/semanticmapping/CMakeLists.txt
@@ -10,7 +10,6 @@ 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/src/main.cpp b/spring-mock-ws/src/semanticmapping/src/main.cpp
index 7cfeaf5..a66320a 100644
--- a/spring-mock-ws/src/semanticmapping/src/main.cpp
+++ b/spring-mock-ws/src/semanticmapping/src/main.cpp
@@ -25,28 +25,47 @@
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
-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);
-}
+class SemanticMapping {
+ public:
+ SemanticMapping(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "semanticmapping");
+ // ATTENTION: this topic is not defined in the architecture design
+ detected_objects_sub_ = nh->subscribe("detected_objects", 1, &SemanticMapping::detected_objectsCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ dense3dmap_sub_ = nh->subscribe("dense3dmap", 1, &SemanticMapping::dense3dmapCallback, this);
+
+ // ATTENTION: this topic is not defined in the architecture design
+ scenegraph_pub_ = nh->advertise<std_msgs::Empty>("scenegraph", 1);
+ }
+
+ ~SemanticMapping() {}
- ros::NodeHandle n;
+ private:
+ void detected_objectsCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("semanticmapping: received message: " << msg);
+ }
+ void dense3dmapCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("semanticmapping: received message: " << 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::Subscriber detected_objects_sub_;
+ ros::Subscriber dense3dmap_sub_;
+
+ ros::Publisher scenegraph_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "semanticmapping");
- // ATTENTION: this topic is not defined in the architecture design
- ros::Publisher scenegraph_pub = n.advertise<std_msgs::Empty>("scenegraph", 1);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto semanticmapping = SemanticMapping(&private_node_handle_);
ROS_INFO("Node semanticmapping launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/soundlocalisation/CMakeLists.txt b/spring-mock-ws/src/soundlocalisation/CMakeLists.txt
index 6a4e00c..c0d620a 100644
--- a/spring-mock-ws/src/soundlocalisation/CMakeLists.txt
+++ b/spring-mock-ws/src/soundlocalisation/CMakeLists.txt
@@ -11,7 +11,6 @@ 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 b2f623f..72e71ab 100644
--- a/spring-mock-ws/src/soundlocalisation/package.xml
+++ b/spring-mock-ws/src/soundlocalisation/package.xml
@@ -50,8 +50,8 @@
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roscpp</exec_depend>
- <depend>tf</depend>
<depend>std_msgs</depend>
+ <depend>tf</depend>
<export>
diff --git a/spring-mock-ws/src/soundlocalisation/src/main.cpp b/spring-mock-ws/src/soundlocalisation/src/main.cpp
index eaed13c..f012923 100644
--- a/spring-mock-ws/src/soundlocalisation/src/main.cpp
+++ b/spring-mock-ws/src/soundlocalisation/src/main.cpp
@@ -26,20 +26,37 @@
#include "tf/transform_broadcaster.h"
#include "std_msgs/Empty.h"
-void inputCallback(const std_msgs::Empty::ConstPtr& msg)
-{
- ROS_INFO_STREAM("soundlocalisation: received message: " << msg);
-}
+class SoundLocalisation {
+ public:
+ SoundLocalisation(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "soundlocalisation");
+ // ATTENTION: this topic is not defined in the architecture design
+ input_sub_ = nh->subscribe("input", 1, &SoundLocalisation::inputCallback, this);
+
+ }
+
+ ~SoundLocalisation() {}
- ros::NodeHandle n;
+ private:
+ void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("soundlocalisation: received message: " << msg);
+ }
- // ATTENTION: this topic is not defined in the architecture design
- ros::Subscriber input_sub = n.subscribe("input", 1, inputCallback);
+ ros::Subscriber input_sub_;
+
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "soundlocalisation");
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto soundlocalisation = SoundLocalisation(&private_node_handle_);
ROS_INFO("Node soundlocalisation launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/speakerrecognition/CMakeLists.txt b/spring-mock-ws/src/speakerrecognition/CMakeLists.txt
index 9b475a4..7fb92ba 100644
--- a/spring-mock-ws/src/speakerrecognition/CMakeLists.txt
+++ b/spring-mock-ws/src/speakerrecognition/CMakeLists.txt
@@ -10,7 +10,6 @@ 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/src/main.cpp b/spring-mock-ws/src/speakerrecognition/src/main.cpp
index 7d35d11..25c57ce 100644
--- a/spring-mock-ws/src/speakerrecognition/src/main.cpp
+++ b/spring-mock-ws/src/speakerrecognition/src/main.cpp
@@ -25,22 +25,40 @@
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
-void inputCallback(const std_msgs::Empty::ConstPtr& msg)
-{
- ROS_INFO_STREAM("speakerrecognition: received message: " << msg);
-}
+class SpeakerRecognition {
+ public:
+ SpeakerRecognition(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "speakerrecognition");
+ // ATTENTION: this topic is not defined in the architecture design
+ input_sub_ = nh->subscribe("input", 1, &SpeakerRecognition::inputCallback, this);
+
+ // ATTENTION: this topic is not defined in the architecture design
+ personid_pub_ = nh->advertise<std_msgs::Empty>("personid", 1);
+ }
+
+ ~SpeakerRecognition() {}
- ros::NodeHandle n;
+ private:
+ void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("speakerrecognition: received message: " << msg);
+ }
- // ATTENTION: this topic is not defined in the architecture design
- ros::Subscriber input_sub = n.subscribe("input", 1, inputCallback);
+ ros::Subscriber input_sub_;
+
+ ros::Publisher personid_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "speakerrecognition");
- // ATTENTION: this topic is not defined in the architecture design
- ros::Publisher personid_pub = n.advertise<std_msgs::Empty>("personid", 1);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto speakerrecognition = SpeakerRecognition(&private_node_handle_);
ROS_INFO("Node speakerrecognition launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/speechdiarization/CMakeLists.txt b/spring-mock-ws/src/speechdiarization/CMakeLists.txt
index 07d9a34..28daa46 100644
--- a/spring-mock-ws/src/speechdiarization/CMakeLists.txt
+++ b/spring-mock-ws/src/speechdiarization/CMakeLists.txt
@@ -10,7 +10,6 @@ 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/src/main.cpp b/spring-mock-ws/src/speechdiarization/src/main.cpp
index 8adfabf..8af98f4 100644
--- a/spring-mock-ws/src/speechdiarization/src/main.cpp
+++ b/spring-mock-ws/src/speechdiarization/src/main.cpp
@@ -25,22 +25,40 @@
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
-void inputCallback(const std_msgs::Empty::ConstPtr& msg)
-{
- ROS_INFO_STREAM("speechdiarization: received message: " << msg);
-}
+class SpeechDiarization {
+ public:
+ SpeechDiarization(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "speechdiarization");
+ // ATTENTION: this topic is not defined in the architecture design
+ input_sub_ = nh->subscribe("input", 1, &SpeechDiarization::inputCallback, this);
+
+ // ATTENTION: this topic is not defined in the architecture design
+ hvvoiceidaudio_pub_ = nh->advertise<std_msgs::Empty>("hvvoiceidaudio", 1);
+ }
+
+ ~SpeechDiarization() {}
- ros::NodeHandle n;
+ private:
+ void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("speechdiarization: received message: " << msg);
+ }
- // ATTENTION: this topic is not defined in the architecture design
- ros::Subscriber input_sub = n.subscribe("input", 1, inputCallback);
+ ros::Subscriber input_sub_;
+
+ ros::Publisher hvvoiceidaudio_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "speechdiarization");
- // ATTENTION: this topic is not defined in the architecture design
- ros::Publisher hvvoiceidaudio_pub = n.advertise<std_msgs::Empty>("hvvoiceidaudio", 1);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto speechdiarization = SpeechDiarization(&private_node_handle_);
ROS_INFO("Node speechdiarization launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/speechsynthesis/CMakeLists.txt b/spring-mock-ws/src/speechsynthesis/CMakeLists.txt
index 25f5b23..0562fc0 100644
--- a/spring-mock-ws/src/speechsynthesis/CMakeLists.txt
+++ b/spring-mock-ws/src/speechsynthesis/CMakeLists.txt
@@ -10,7 +10,6 @@ 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/src/main.cpp b/spring-mock-ws/src/speechsynthesis/src/main.cpp
index fa558dd..b340dac 100644
--- a/spring-mock-ws/src/speechsynthesis/src/main.cpp
+++ b/spring-mock-ws/src/speechsynthesis/src/main.cpp
@@ -25,22 +25,40 @@
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
-void inputCallback(const std_msgs::Empty::ConstPtr& msg)
-{
- ROS_INFO_STREAM("speechsynthesis: received message: " << msg);
-}
+class SpeechSynthesis {
+ public:
+ SpeechSynthesis(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "speechsynthesis");
+ // ATTENTION: this topic is not defined in the architecture design
+ input_sub_ = nh->subscribe("input", 1, &SpeechSynthesis::inputCallback, this);
+
+ // ATTENTION: this topic is not defined in the architecture design
+ ttsfeedback_pub_ = nh->advertise<std_msgs::Empty>("ttsfeedback", 1);
+ }
+
+ ~SpeechSynthesis() {}
- ros::NodeHandle n;
+ private:
+ void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("speechsynthesis: received message: " << msg);
+ }
- // ATTENTION: this topic is not defined in the architecture design
- ros::Subscriber input_sub = n.subscribe("input", 1, inputCallback);
+ ros::Subscriber input_sub_;
+
+ ros::Publisher ttsfeedback_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "speechsynthesis");
- // ATTENTION: this topic is not defined in the architecture design
- ros::Publisher ttsfeedback_pub = n.advertise<std_msgs::Empty>("ttsfeedback", 1);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto speechsynthesis = SpeechSynthesis(&private_node_handle_);
ROS_INFO("Node speechsynthesis launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/springarchitecture/CMakeLists.txt b/spring-mock-ws/src/springarchitecture/CMakeLists.txt
index 9c038d1..83b43e3 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
- userattention
- multipeopletracker
- maskdetection
- robotnonverbalbehaviours
- robotfunctionallayer
- robotutterances
- activityreco
- occupancymap
+ sceneunderstanding
+ personmanager
speechsynthesis
- facedetection
- fisheyestereorgbhead
- demographics
- respeaker_ros
- facerecognition
- speakerrecognition
- usergaze
- nonverbalbehaviours
visualslam3dmap
+ occupancymap
+ soundlocalisation
+ userattention
+ rgbdcamera_info
fformation
- robotgui
people3dtracker
+ asr
+ fisheyestereorgbhead
+ usergaze
speechdiarization
- rosopenpose
+ demographics
+ robotnonverbalbehaviours
+ nonverbalbehaviours
interactionmanager
- rgbdcamera_info
- asr
- dialoguemanager
- sceneunderstanding
- objectdetectionidentificationlocalisation
highlevelplanner
- orbslam
+ robotfunctionallayer
+ maskdetection
+ speakerrecognition
body2dpose
- soundlocalisation
+ robotgui
semanticmapping
- personmanager
+ activityreco
+ facedetection
+ respeaker_ros
+ multipeopletracker
+ robotutterances
+ objectdetectionidentificationlocalisation
+ dialoguemanager
+ orbslam
+ rosopenpose
+ facerecognition
)
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 74e7ff3..ece0ffd 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all.launch
@@ -1,145 +1,165 @@
<launch>
- <!-- launching User attention (userattention) -->
- <node pkg="userattention" name="userattention" type="node" output="screen">
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching Multi-people tracker (multipeopletracker) -->
- <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <remap from="image_head" to="/camera_head/color/image_head"/>
+ <remap from="image_torso" to="/camera_torso/color/image_torso"/>
</node>
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <remap from="map_refined" to="/map_refined"/>
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
</node>
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ <!-- launching User attention (userattention) -->
+ <node pkg="userattention" name="userattention" type="node" output="screen">
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+ <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- 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">
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
- <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
</node>
- <!-- launching Demographics (demographics) -->
- <node pkg="demographics" name="demographics" type="node" output="screen">
+ <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
+ <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
+ <!-- launching User gaze (usergaze) -->
+ <node pkg="usergaze" name="usergaze" type="node" output="screen">
</node>
- <!-- launching Face recognition (facerecognition) -->
- <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
</node>
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+ <!-- launching Demographics (demographics) -->
+ <node pkg="demographics" name="demographics" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
</node>
- <!-- launching User gaze (usergaze) -->
- <node pkg="usergaze" name="usergaze" type="node" output="screen">
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
</node>
<!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
<node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <!-- launching Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="groups" to="/h/i/groups"/>
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="roi" to="/h/faces/*/roi"/>
+ <remap from="face_mask" to="/humans/faces/<id>/mask"/>
</node>
- <!-- launching Speech diarization (speechdiarization) -->
- <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+ <!-- launching Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
</node>
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching Dialogue manager (dialoguemanager) -->
- <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ <!-- launching Face detection (facedetection) -->
+ <node pkg="facedetection" name="facedetection" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</node>
- <!-- launching Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+ <!-- 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 Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
- <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+ <!-- launching Multi-people tracker (multipeopletracker) -->
+ <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+ <!-- launching Robot utterances (robotutterances) -->
+ <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
</node>
- <!-- launching ORB SLAM (orbslam) -->
- <node pkg="orbslam" name="orbslam" type="node" output="screen">
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching Body 2D pose (body2dpose) -->
- <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <!-- launching ORB SLAM (orbslam) -->
+ <node pkg="orbslam" name="orbslam" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+ <remap from="map" to="/map"/>
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
+ <!-- launching Face recognition (facerecognition) -->
+ <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</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 5e45a65..00ec223 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
@@ -1,130 +1,150 @@
<launch>
<!-- this launch file starts all SPRING nodes except for BIU nodes. -->
- <!-- launching User attention (userattention) -->
- <node pkg="userattention" name="userattention" type="node" output="screen">
- </node>
-
- <!-- launching Multi-people tracker (multipeopletracker) -->
- <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
</node>
- <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+ <!-- 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">
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <remap from="image_head" to="/camera_head/color/image_head"/>
+ <remap from="image_torso" to="/camera_torso/color/image_torso"/>
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <remap from="map_refined" to="/map_refined"/>
</node>
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ <!-- launching User attention (userattention) -->
+ <node pkg="userattention" name="userattention" type="node" output="screen">
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+ <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- 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">
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
<!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
<node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ </node>
+
+ <!-- launching User gaze (usergaze) -->
+ <node pkg="usergaze" name="usergaze" type="node" output="screen">
</node>
<!-- launching Demographics (demographics) -->
<node pkg="demographics" name="demographics" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
</node>
- <!-- launching Face recognition (facerecognition) -->
- <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
</node>
- <!-- launching User gaze (usergaze) -->
- <node pkg="usergaze" name="usergaze" type="node" output="screen">
+ <!-- launching Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
- <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+ <!-- 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">
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="groups" to="/h/i/groups"/>
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="roi" to="/h/faces/*/roi"/>
+ <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+ </node>
+
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
</node>
<!-- launching Robot GUI (robotgui) -->
<node pkg="robotgui" name="robotgui" type="node" output="screen">
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+ <!-- launching Face detection (facedetection) -->
+ <node pkg="facedetection" name="facedetection" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+ <!-- 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">
+ <!-- launching Multi-people tracker (multipeopletracker) -->
+ <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
</node>
- <!-- launching Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+ <!-- launching Robot utterances (robotutterances) -->
+ <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
</node>
<!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
<node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
</node>
<!-- launching ORB SLAM (orbslam) -->
<node pkg="orbslam" name="orbslam" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+ <remap from="map" to="/map"/>
</node>
- <!-- launching Body 2D pose (body2dpose) -->
- <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
- </node>
-
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
+ <!-- launching Face recognition (facerecognition) -->
+ <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</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 fed5c42..29cb432 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
@@ -1,130 +1,146 @@
<launch>
<!-- this launch file starts all SPRING nodes except for CVUT nodes. -->
- <!-- launching User attention (userattention) -->
- <node pkg="userattention" name="userattention" type="node" output="screen">
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching Multi-people tracker (multipeopletracker) -->
- <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
</node>
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+ <!-- launching User attention (userattention) -->
+ <node pkg="userattention" name="userattention" type="node" output="screen">
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+ <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+ <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
</node>
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ <!-- launching F-formation (fformation) -->
+ <node pkg="fformation" name="fformation" type="node" output="screen">
+ <remap from="groups" to="/h/i/groups"/>
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- 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">
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
</node>
<!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
<node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching Demographics (demographics) -->
- <node pkg="demographics" name="demographics" type="node" output="screen">
- </node>
-
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
+ <!-- launching User gaze (usergaze) -->
+ <node pkg="usergaze" name="usergaze" type="node" output="screen">
</node>
- <!-- launching Face recognition (facerecognition) -->
- <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
</node>
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+ <!-- launching Demographics (demographics) -->
+ <node pkg="demographics" name="demographics" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
</node>
- <!-- launching User gaze (usergaze) -->
- <node pkg="usergaze" name="usergaze" type="node" output="screen">
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
</node>
<!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
<node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="groups" to="/h/i/groups"/>
+ <!-- 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">
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+ <!-- 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">
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="roi" to="/h/faces/*/roi"/>
+ <remap from="face_mask" to="/humans/faces/<id>/mask"/>
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- launching Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
</node>
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching Dialogue manager (dialoguemanager) -->
- <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ <!-- launching Face detection (facedetection) -->
+ <node pkg="facedetection" name="facedetection" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</node>
- <!-- launching Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+ <!-- 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 High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+ <!-- launching Multi-people tracker (multipeopletracker) -->
+ <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
</node>
- <!-- launching ORB SLAM (orbslam) -->
- <node pkg="orbslam" name="orbslam" type="node" output="screen">
+ <!-- launching Robot utterances (robotutterances) -->
+ <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
</node>
- <!-- launching Body 2D pose (body2dpose) -->
- <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <!-- launching ORB SLAM (orbslam) -->
+ <node pkg="orbslam" name="orbslam" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+ <remap from="map" to="/map"/>
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ </node>
+
+ <!-- launching Face recognition (facerecognition) -->
+ <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</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 efc33e2..379a2c2 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
@@ -1,142 +1,162 @@
<launch>
<!-- this launch file starts all SPRING nodes except for ERM nodes. -->
- <!-- launching User attention (userattention) -->
- <node pkg="userattention" name="userattention" type="node" output="screen">
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching Multi-people tracker (multipeopletracker) -->
- <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <remap from="image_head" to="/camera_head/color/image_head"/>
+ <remap from="image_torso" to="/camera_torso/color/image_torso"/>
</node>
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <remap from="map_refined" to="/map_refined"/>
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
</node>
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ <!-- launching User attention (userattention) -->
+ <node pkg="userattention" name="userattention" type="node" output="screen">
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+ <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- 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">
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
- <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
</node>
- <!-- launching Demographics (demographics) -->
- <node pkg="demographics" name="demographics" type="node" output="screen">
+ <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
+ <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
+ <!-- launching User gaze (usergaze) -->
+ <node pkg="usergaze" name="usergaze" type="node" output="screen">
</node>
- <!-- launching Face recognition (facerecognition) -->
- <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
</node>
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+ <!-- launching Demographics (demographics) -->
+ <node pkg="demographics" name="demographics" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
</node>
- <!-- launching User gaze (usergaze) -->
- <node pkg="usergaze" name="usergaze" type="node" output="screen">
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
</node>
<!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
<node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <!-- launching Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="groups" to="/h/i/groups"/>
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+ <!-- 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">
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="roi" to="/h/faces/*/roi"/>
+ <remap from="face_mask" to="/humans/faces/<id>/mask"/>
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- launching Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
</node>
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching Dialogue manager (dialoguemanager) -->
- <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ <!-- launching Face detection (facedetection) -->
+ <node pkg="facedetection" name="facedetection" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</node>
- <!-- launching Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+ <!-- 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 Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
- <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+ <!-- launching Multi-people tracker (multipeopletracker) -->
+ <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+ <!-- launching Robot utterances (robotutterances) -->
+ <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
</node>
- <!-- launching ORB SLAM (orbslam) -->
- <node pkg="orbslam" name="orbslam" type="node" output="screen">
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching Body 2D pose (body2dpose) -->
- <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <!-- launching ORB SLAM (orbslam) -->
+ <node pkg="orbslam" name="orbslam" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+ <remap from="map" to="/map"/>
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
+ <!-- launching Face recognition (facerecognition) -->
+ <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</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 77aaf31..33c685a 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
@@ -1,126 +1,146 @@
<launch>
<!-- this launch file starts all SPRING nodes except for HWU nodes. -->
- <!-- launching User attention (userattention) -->
- <node pkg="userattention" name="userattention" type="node" output="screen">
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
</node>
- <!-- launching Multi-people tracker (multipeopletracker) -->
- <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <remap from="image_head" to="/camera_head/color/image_head"/>
+ <remap from="image_torso" to="/camera_torso/color/image_torso"/>
</node>
- <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <remap from="map_refined" to="/map_refined"/>
</node>
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
</node>
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ <!-- launching User attention (userattention) -->
+ <node pkg="userattention" name="userattention" type="node" output="screen">
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+ <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- 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">
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
- <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
</node>
- <!-- launching Demographics (demographics) -->
- <node pkg="demographics" name="demographics" type="node" output="screen">
+ <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
+ <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
+ <!-- launching User gaze (usergaze) -->
+ <node pkg="usergaze" name="usergaze" type="node" output="screen">
</node>
- <!-- launching Face recognition (facerecognition) -->
- <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
</node>
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+ <!-- launching Demographics (demographics) -->
+ <node pkg="demographics" name="demographics" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
</node>
- <!-- launching User gaze (usergaze) -->
- <node pkg="usergaze" name="usergaze" type="node" output="screen">
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
</node>
<!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
<node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="groups" to="/h/i/groups"/>
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="roi" to="/h/faces/*/roi"/>
+ <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+ </node>
+
+ <!-- launching Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+ </node>
+
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
</node>
<!-- launching Robot GUI (robotgui) -->
<node pkg="robotgui" name="robotgui" type="node" output="screen">
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
</node>
- <!-- launching Speech diarization (speechdiarization) -->
- <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- launching Face detection (facedetection) -->
+ <node pkg="facedetection" name="facedetection" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+ <!-- 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 ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
+ <!-- launching Multi-people tracker (multipeopletracker) -->
+ <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
</node>
<!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
<node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
<!-- launching ORB SLAM (orbslam) -->
<node pkg="orbslam" name="orbslam" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+ <remap from="map" to="/map"/>
</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">
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
+ <!-- launching Face recognition (facerecognition) -->
+ <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</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 871c968..9ef3a42 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
@@ -1,126 +1,144 @@
<launch>
<!-- this launch file starts all SPRING nodes except for INRIA nodes. -->
- <!-- launching User attention (userattention) -->
- <node pkg="userattention" name="userattention" type="node" output="screen">
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <!-- 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">
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <remap from="image_head" to="/camera_head/color/image_head"/>
+ <remap from="image_torso" to="/camera_torso/color/image_torso"/>
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <remap from="map_refined" to="/map_refined"/>
</node>
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <!-- launching User attention (userattention) -->
+ <node pkg="userattention" name="userattention" type="node" output="screen">
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+ <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
</node>
- <!-- launching Face detection (facedetection) -->
- <node pkg="facedetection" name="facedetection" type="node" output="screen">
+ <!-- launching F-formation (fformation) -->
+ <node pkg="fformation" name="fformation" type="node" output="screen">
+ <remap from="groups" to="/h/i/groups"/>
+ </node>
+
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
</node>
<!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
<node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ </node>
+
+ <!-- launching User gaze (usergaze) -->
+ <node pkg="usergaze" name="usergaze" type="node" output="screen">
+ </node>
+
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
</node>
<!-- launching Demographics (demographics) -->
<node pkg="demographics" name="demographics" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
</node>
- <!-- launching Face recognition (facerecognition) -->
- <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
+ <!-- launching Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
</node>
- <!-- launching User gaze (usergaze) -->
- <node pkg="usergaze" name="usergaze" type="node" output="screen">
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="roi" to="/h/faces/*/roi"/>
+ <remap from="face_mask" to="/humans/faces/<id>/mask"/>
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <!-- launching Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="groups" to="/h/i/groups"/>
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
</node>
<!-- launching Robot GUI (robotgui) -->
<node pkg="robotgui" name="robotgui" type="node" output="screen">
</node>
- <!-- launching Speech diarization (speechdiarization) -->
- <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
- </node>
-
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
+ <!-- launching Face detection (facedetection) -->
+ <node pkg="facedetection" name="facedetection" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</node>
- <!-- launching Dialogue manager (dialoguemanager) -->
- <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ <!-- 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 Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+ <!-- launching Robot utterances (robotutterances) -->
+ <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
</node>
<!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
<node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
</node>
<!-- launching ORB SLAM (orbslam) -->
<node pkg="orbslam" name="orbslam" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+ <remap from="map" to="/map"/>
</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">
+ <!-- launching Face recognition (facerecognition) -->
+ <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</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 5ddb6fd..8c9d994 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
@@ -1,146 +1,166 @@
<launch>
<!-- this launch file starts all SPRING nodes except for Other nodes. -->
- <!-- launching User attention (userattention) -->
- <node pkg="userattention" name="userattention" type="node" output="screen">
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching Multi-people tracker (multipeopletracker) -->
- <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <remap from="image_head" to="/camera_head/color/image_head"/>
+ <remap from="image_torso" to="/camera_torso/color/image_torso"/>
</node>
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <remap from="map_refined" to="/map_refined"/>
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
</node>
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ <!-- launching User attention (userattention) -->
+ <node pkg="userattention" name="userattention" type="node" output="screen">
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+ <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- 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">
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
- <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
</node>
- <!-- launching Demographics (demographics) -->
- <node pkg="demographics" name="demographics" type="node" output="screen">
+ <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
+ <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
+ <!-- launching User gaze (usergaze) -->
+ <node pkg="usergaze" name="usergaze" type="node" output="screen">
</node>
- <!-- launching Face recognition (facerecognition) -->
- <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
</node>
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+ <!-- launching Demographics (demographics) -->
+ <node pkg="demographics" name="demographics" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
</node>
- <!-- launching User gaze (usergaze) -->
- <node pkg="usergaze" name="usergaze" type="node" output="screen">
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
</node>
<!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
<node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <!-- launching Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="groups" to="/h/i/groups"/>
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="roi" to="/h/faces/*/roi"/>
+ <remap from="face_mask" to="/humans/faces/<id>/mask"/>
</node>
- <!-- launching Speech diarization (speechdiarization) -->
- <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+ <!-- launching Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
</node>
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching Dialogue manager (dialoguemanager) -->
- <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ <!-- launching Face detection (facedetection) -->
+ <node pkg="facedetection" name="facedetection" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</node>
- <!-- launching Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+ <!-- 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 Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
- <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+ <!-- launching Multi-people tracker (multipeopletracker) -->
+ <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+ <!-- launching Robot utterances (robotutterances) -->
+ <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
</node>
- <!-- launching ORB SLAM (orbslam) -->
- <node pkg="orbslam" name="orbslam" type="node" output="screen">
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching Body 2D pose (body2dpose) -->
- <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <!-- launching ORB SLAM (orbslam) -->
+ <node pkg="orbslam" name="orbslam" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+ <remap from="map" to="/map"/>
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
+ <!-- launching Face recognition (facerecognition) -->
+ <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</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 2fd2757..1b5313c 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
@@ -1,121 +1,137 @@
<launch>
<!-- this launch file starts all SPRING nodes except for PAL nodes. -->
- <!-- launching User attention (userattention) -->
- <node pkg="userattention" name="userattention" type="node" output="screen">
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching Multi-people tracker (multipeopletracker) -->
- <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <remap from="image_head" to="/camera_head/color/image_head"/>
+ <remap from="image_torso" to="/camera_torso/color/image_torso"/>
</node>
- <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <remap from="map_refined" to="/map_refined"/>
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
</node>
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ <!-- launching User attention (userattention) -->
+ <node pkg="userattention" name="userattention" type="node" output="screen">
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <!-- 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">
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching Demographics (demographics) -->
- <node pkg="demographics" name="demographics" type="node" output="screen">
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
</node>
- <!-- launching Face recognition (facerecognition) -->
- <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
+ <!-- launching User gaze (usergaze) -->
+ <node pkg="usergaze" name="usergaze" type="node" output="screen">
</node>
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
</node>
- <!-- launching User gaze (usergaze) -->
- <node pkg="usergaze" name="usergaze" type="node" output="screen">
+ <!-- launching Demographics (demographics) -->
+ <node pkg="demographics" name="demographics" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
</node>
- <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="groups" to="/h/i/groups"/>
+ <!-- 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">
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="roi" to="/h/faces/*/roi"/>
+ <remap from="face_mask" to="/humans/faces/<id>/mask"/>
</node>
- <!-- launching Speech diarization (speechdiarization) -->
- <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+ <!-- launching Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
</node>
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
</node>
- <!-- launching Dialogue manager (dialoguemanager) -->
- <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+ <!-- launching Face detection (facedetection) -->
+ <node pkg="facedetection" name="facedetection" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</node>
- <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
- <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+ <!-- launching Multi-people tracker (multipeopletracker) -->
+ <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+ <!-- launching Robot utterances (robotutterances) -->
+ <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
</node>
- <!-- launching Body 2D pose (body2dpose) -->
- <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
+ <!-- launching Face recognition (facerecognition) -->
+ <node pkg="facerecognition" name="facerecognition" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</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 249a925..4af0c24 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
@@ -1,105 +1,115 @@
<launch>
<!-- this launch file starts all SPRING nodes except for UNITN nodes. -->
- <!-- launching Multi-people tracker (multipeopletracker) -->
- <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
</node>
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <remap from="image_head" to="/camera_head/color/image_head"/>
+ <remap from="image_torso" to="/camera_torso/color/image_torso"/>
</node>
<!-- launching Occupancy map (occupancymap) -->
<node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <remap from="map_refined" to="/map_refined"/>
</node>
- <!-- 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">
- </node>
-
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
</node>
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+ <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+ <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+ <!-- launching Fisheye stereo + RGB head (fisheyestereorgbhead) -->
+ <node pkg="fisheyestereorgbhead" name="fisheyestereorgbhead" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</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">
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
</node>
<!-- launching Interaction manager (interactionmanager) -->
<node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+ <!-- 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">
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching Dialogue manager (dialoguemanager) -->
- <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ <!-- launching Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
</node>
- <!-- launching Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
</node>
- <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
- <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+ <!-- 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">
+ <!-- launching Multi-people tracker (multipeopletracker) -->
+ <node pkg="multipeopletracker" name="multipeopletracker" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <!-- launching Robot utterances (robotutterances) -->
+ <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ </node>
+
+ <!-- launching ORB SLAM (orbslam) -->
+ <node pkg="orbslam" name="orbslam" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+ <remap from="map" to="/map"/>
+ </node>
+
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
diff --git a/spring-mock-ws/src/springarchitecture/package.xml b/spring-mock-ws/src/springarchitecture/package.xml
index 770e1b7..d53047d 100644
--- a/spring-mock-ws/src/springarchitecture/package.xml
+++ b/spring-mock-ws/src/springarchitecture/package.xml
@@ -9,41 +9,41 @@
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
- <depend>userattention</depend>
- <depend>multipeopletracker</depend>
- <depend>maskdetection</depend>
- <depend>robotnonverbalbehaviours</depend>
- <depend>robotfunctionallayer</depend>
- <depend>robotutterances</depend>
- <depend>activityreco</depend>
- <depend>occupancymap</depend>
+ <depend>sceneunderstanding</depend>
+ <depend>personmanager</depend>
<depend>speechsynthesis</depend>
- <depend>facedetection</depend>
- <depend>fisheyestereorgbhead</depend>
- <depend>demographics</depend>
- <depend>respeaker_ros</depend>
- <depend>facerecognition</depend>
- <depend>speakerrecognition</depend>
- <depend>usergaze</depend>
- <depend>nonverbalbehaviours</depend>
<depend>visualslam3dmap</depend>
+ <depend>occupancymap</depend>
+ <depend>soundlocalisation</depend>
+ <depend>userattention</depend>
+ <depend>rgbdcamera_info</depend>
<depend>fformation</depend>
- <depend>robotgui</depend>
<depend>people3dtracker</depend>
+ <depend>asr</depend>
+ <depend>fisheyestereorgbhead</depend>
+ <depend>usergaze</depend>
<depend>speechdiarization</depend>
- <depend>rosopenpose</depend>
+ <depend>demographics</depend>
+ <depend>robotnonverbalbehaviours</depend>
+ <depend>nonverbalbehaviours</depend>
<depend>interactionmanager</depend>
- <depend>rgbdcamera_info</depend>
- <depend>asr</depend>
- <depend>dialoguemanager</depend>
- <depend>sceneunderstanding</depend>
- <depend>objectdetectionidentificationlocalisation</depend>
<depend>highlevelplanner</depend>
- <depend>orbslam</depend>
+ <depend>robotfunctionallayer</depend>
+ <depend>maskdetection</depend>
+ <depend>speakerrecognition</depend>
<depend>body2dpose</depend>
- <depend>soundlocalisation</depend>
+ <depend>robotgui</depend>
<depend>semanticmapping</depend>
- <depend>personmanager</depend>
+ <depend>activityreco</depend>
+ <depend>facedetection</depend>
+ <depend>respeaker_ros</depend>
+ <depend>multipeopletracker</depend>
+ <depend>robotutterances</depend>
+ <depend>objectdetectionidentificationlocalisation</depend>
+ <depend>dialoguemanager</depend>
+ <depend>orbslam</depend>
+ <depend>rosopenpose</depend>
+ <depend>facerecognition</depend>
<export>
diff --git a/spring-mock-ws/src/userattention/CMakeLists.txt b/spring-mock-ws/src/userattention/CMakeLists.txt
index 562b923..671332b 100644
--- a/spring-mock-ws/src/userattention/CMakeLists.txt
+++ b/spring-mock-ws/src/userattention/CMakeLists.txt
@@ -10,7 +10,6 @@ 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/src/main.cpp b/spring-mock-ws/src/userattention/src/main.cpp
index 56defb0..9f98f8e 100644
--- a/spring-mock-ws/src/userattention/src/main.cpp
+++ b/spring-mock-ws/src/userattention/src/main.cpp
@@ -25,48 +25,71 @@
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
-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);
-}
+class UserAttention {
+ public:
+ UserAttention(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "userattention");
+ // ATTENTION: this topic is not defined in the architecture design
+ tfpersons_sub_ = nh->subscribe("tfpersons", 1, &UserAttention::tfpersonsCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ tfbodies_sub_ = nh->subscribe("tfbodies", 1, &UserAttention::tfbodiesCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ gazedirection_sub_ = nh->subscribe("gazedirection", 1, &UserAttention::gazedirectionCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ input_sub_ = nh->subscribe("input", 1, &UserAttention::inputCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ tffaces_sub_ = nh->subscribe("tffaces", 1, &UserAttention::tffacesCallback, this);
- ros::NodeHandle n;
+ // ATTENTION: this topic is not defined in the architecture design
+ output_pub_ = nh->advertise<std_msgs::Empty>("output", 1);
+ // ATTENTION: this topic is not defined in the architecture design
+ currentattentiveperson_pub_ = nh->advertise<std_msgs::Empty>("currentattentiveperson", 1);
+ }
- // 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);
+ ~UserAttention() {}
+
+ private:
+ void tfpersonsCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("userattention: received message: " << 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);
+ }
+
+ ros::Subscriber tfpersons_sub_;
+ ros::Subscriber tfbodies_sub_;
+ ros::Subscriber gazedirection_sub_;
+ ros::Subscriber input_sub_;
+ ros::Subscriber tffaces_sub_;
+
+ ros::Publisher output_pub_;
+ ros::Publisher currentattentiveperson_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "userattention");
- // 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);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto userattention = UserAttention(&private_node_handle_);
ROS_INFO("Node userattention launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/usergaze/CMakeLists.txt b/spring-mock-ws/src/usergaze/CMakeLists.txt
index 2b3d726..4d55bf2 100644
--- a/spring-mock-ws/src/usergaze/CMakeLists.txt
+++ b/spring-mock-ws/src/usergaze/CMakeLists.txt
@@ -10,7 +10,6 @@ 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/src/main.cpp b/spring-mock-ws/src/usergaze/src/main.cpp
index 58dd40f..6f6e81a 100644
--- a/spring-mock-ws/src/usergaze/src/main.cpp
+++ b/spring-mock-ws/src/usergaze/src/main.cpp
@@ -25,28 +25,47 @@
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
-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);
-}
+class UserGaze {
+ public:
+ UserGaze(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "usergaze");
+ // ATTENTION: this topic is not defined in the architecture design
+ tffaces_sub_ = nh->subscribe("tffaces", 1, &UserGaze::tffacesCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ images_sub_ = nh->subscribe("images", 1, &UserGaze::imagesCallback, this);
+
+ // ATTENTION: this topic is not defined in the architecture design
+ gazedirection_pub_ = nh->advertise<std_msgs::Empty>("gazedirection", 1);
+ }
+
+ ~UserGaze() {}
- ros::NodeHandle n;
+ private:
+ 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);
+ }
- // 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::Subscriber tffaces_sub_;
+ ros::Subscriber images_sub_;
+
+ ros::Publisher gazedirection_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "usergaze");
- // ATTENTION: this topic is not defined in the architecture design
- ros::Publisher gazedirection_pub = n.advertise<std_msgs::Empty>("gazedirection", 1);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto usergaze = UserGaze(&private_node_handle_);
ROS_INFO("Node usergaze launched and ready.");
ros::spin();
diff --git a/spring-mock-ws/src/visualslam3dmap/CMakeLists.txt b/spring-mock-ws/src/visualslam3dmap/CMakeLists.txt
index 8f7cbc0..f2c088f 100644
--- a/spring-mock-ws/src/visualslam3dmap/CMakeLists.txt
+++ b/spring-mock-ws/src/visualslam3dmap/CMakeLists.txt
@@ -9,7 +9,7 @@ add_compile_options(-std=c++11)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
- std_msgs
+ sensor_msgs
std_msgs
tf
)
diff --git a/spring-mock-ws/src/visualslam3dmap/package.xml b/spring-mock-ws/src/visualslam3dmap/package.xml
index 7f5f152..188e2a6 100644
--- a/spring-mock-ws/src/visualslam3dmap/package.xml
+++ b/spring-mock-ws/src/visualslam3dmap/package.xml
@@ -50,6 +50,7 @@
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roscpp</exec_depend>
+ <depend>sensor_msgs</depend>
<depend>std_msgs</depend>
<depend>tf</depend>
diff --git a/spring-mock-ws/src/visualslam3dmap/src/main.cpp b/spring-mock-ws/src/visualslam3dmap/src/main.cpp
index 0d66256..531826c 100644
--- a/spring-mock-ws/src/visualslam3dmap/src/main.cpp
+++ b/spring-mock-ws/src/visualslam3dmap/src/main.cpp
@@ -25,29 +25,54 @@
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
#include "tf/transform_broadcaster.h"
+#include "sensor_msgs/Image.h"
-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);
-}
+class VisualSlam3dMap {
+ public:
+ VisualSlam3dMap(ros::NodeHandle* nh) {
-int main(int argc, char **argv) {
- ros::init(argc, argv, "visualslam3dmap");
+ // ATTENTION: this topic is not defined in the architecture design
+ localisationprior_sub_ = nh->subscribe("localisationprior", 1, &VisualSlam3dMap::localisationpriorCallback, this);
+ image_head_sub_ = nh->subscribe("image_head", 1, &VisualSlam3dMap::image_headCallback, this);
+ image_torso_sub_ = nh->subscribe("image_torso", 1, &VisualSlam3dMap::image_torsoCallback, this);
+
+ // ATTENTION: this topic is not defined in the architecture design
+ dense3dmap_pub_ = nh->advertise<std_msgs::Empty>("dense3dmap", 1);
+ }
+
+ ~VisualSlam3dMap() {}
- ros::NodeHandle n;
+ private:
+ void localisationpriorCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("visualslam3dmap: received message: " << msg);
+ }
+ void image_headCallback(const sensor_msgs::Image::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("visualslam3dmap: received message: " << msg);
+ }
+ void image_torsoCallback(const sensor_msgs::Image::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("visualslam3dmap: received message: " << 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::Subscriber localisationprior_sub_;
+ ros::Subscriber image_head_sub_;
+ ros::Subscriber image_torso_sub_;
+
+ ros::Publisher dense3dmap_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "visualslam3dmap");
- // ATTENTION: this topic is not defined in the architecture design
- ros::Publisher dense3dmap_pub = n.advertise<std_msgs::Empty>("dense3dmap", 1);
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+ auto visualslam3dmap = VisualSlam3dMap(&private_node_handle_);
ROS_INFO("Node visualslam3dmap launched and ready.");
ros::spin();
--
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