diff --git a/spring-mock-ws/src/activityreco/CMakeLists.txt b/spring-mock-ws/src/activityreco/CMakeLists.txt
index a23b15ac37decde871a3f7f30c657b1efa2a3ce3..7f887e6eb9c64f5a66338e82cd4bafc05a8ed922 100644
--- a/spring-mock-ws/src/activityreco/CMakeLists.txt
+++ b/spring-mock-ws/src/activityreco/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/asr/CMakeLists.txt b/spring-mock-ws/src/asr/CMakeLists.txt
index ba82bc6ab622b2a490ea5c96bf5d7583762706cb..7dba964a9f3e564f871f1b7767a2a02ce65d5f5a 100644
--- a/spring-mock-ws/src/asr/CMakeLists.txt
+++ b/spring-mock-ws/src/asr/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/body2dpose/CMakeLists.txt b/spring-mock-ws/src/body2dpose/CMakeLists.txt
index 5efe0a58dc7e0ea2480155a170efebc92a5d12d2..2b55f60692ad513f3972257d49462d0df9a6509d 100644
--- a/spring-mock-ws/src/body2dpose/CMakeLists.txt
+++ b/spring-mock-ws/src/body2dpose/CMakeLists.txt
@@ -115,10 +115,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/body2dpose/src/main.cpp b/spring-mock-ws/src/body2dpose/src/main.cpp
index 6fc66562f639491ed50b6aab5608b307e0418dd9..91cb3810988f722745a2411ed2f8f90b24d367fe 100644
--- a/spring-mock-ws/src/body2dpose/src/main.cpp
+++ b/spring-mock-ws/src/body2dpose/src/main.cpp
@@ -23,9 +23,9 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "hri_msgs/Skeleton2D.h"
#include "sensor_msgs/Image.h"
#include "hri_msgs/RegionOfInterestStamped.h"
+#include "hri_msgs/Skeleton2D.h"
class Body2dPose {
public:
diff --git a/spring-mock-ws/src/dialoguemanager/CMakeLists.txt b/spring-mock-ws/src/dialoguemanager/CMakeLists.txt
index 404f1edf6770d7f87fd20067d6ef2ec28c31aa62..8942669d231215e9346f39d2473d725aa75f17cd 100644
--- a/spring-mock-ws/src/dialoguemanager/CMakeLists.txt
+++ b/spring-mock-ws/src/dialoguemanager/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/dialoguemanager/src/main.cpp b/spring-mock-ws/src/dialoguemanager/src/main.cpp
index c5859845cd4e0441409bc91181fd0f144f29c7dc..c65be92f6ee6684d12df9df21c4828e87ba7352f 100644
--- a/spring-mock-ws/src/dialoguemanager/src/main.cpp
+++ b/spring-mock-ws/src/dialoguemanager/src/main.cpp
@@ -29,10 +29,10 @@ class DialogueManager {
public:
DialogueManager(ros::NodeHandle* nh) {
- // 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
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
nextutterance_pub_ = nh->advertise<std_msgs::Empty>("nextutterance", 1);
@@ -43,17 +43,17 @@ class DialogueManager {
~DialogueManager() {}
private:
- void speechCallback(const std_msgs::Empty::ConstPtr& msg)
+ void interactionmessagesCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("dialoguemanager: received message: " << msg);
}
- void interactionmessagesCallback(const std_msgs::Empty::ConstPtr& msg)
+ void speechCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("dialoguemanager: received message: " << msg);
}
- ros::Subscriber speech_sub_;
ros::Subscriber interactionmessages_sub_;
+ ros::Subscriber speech_sub_;
ros::Publisher nextutterance_pub_;
ros::Publisher dialoguestate_pub_;
diff --git a/spring-mock-ws/src/facedetection/CMakeLists.txt b/spring-mock-ws/src/facedetection/CMakeLists.txt
index 5630430522ee638b9756f56703a23c91a16d4df3..fc1e24a5b51a319c39d9623262bd7457ce3101c7 100644
--- a/spring-mock-ws/src/facedetection/CMakeLists.txt
+++ b/spring-mock-ws/src/facedetection/CMakeLists.txt
@@ -115,10 +115,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/fformation/CMakeLists.txt b/spring-mock-ws/src/fformation/CMakeLists.txt
index af68214dbb818fcdf7ea502b13fef3c1c1718853..732eab3354ebfeb2acbdc89aa7302b72ecd614f1 100644
--- a/spring-mock-ws/src/fformation/CMakeLists.txt
+++ b/spring-mock-ws/src/fformation/CMakeLists.txt
@@ -116,10 +116,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/fformation/src/main.cpp b/spring-mock-ws/src/fformation/src/main.cpp
index 23fd5a58328d95e3ec3c457a8b1577de552bdbee..2af965e80bf80705dd232957c37d8e836315aa7f 100644
--- a/spring-mock-ws/src/fformation/src/main.cpp
+++ b/spring-mock-ws/src/fformation/src/main.cpp
@@ -24,8 +24,8 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "tf/transform_listener.h"
-#include "std_msgs/Empty.h"
#include "hri_msgs/GroupsStamped.h"
+#include "std_msgs/Empty.h"
class Fformation {
public:
diff --git a/spring-mock-ws/src/highlevelplanner/CMakeLists.txt b/spring-mock-ws/src/highlevelplanner/CMakeLists.txt
index b69b7b35864ac5d9090472f9107694975cddccff..c3559f83fae3f24de5c3d504501a982894c10c59 100644
--- a/spring-mock-ws/src/highlevelplanner/CMakeLists.txt
+++ b/spring-mock-ws/src/highlevelplanner/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/highlevelplanner/src/main.cpp b/spring-mock-ws/src/highlevelplanner/src/main.cpp
index 73702a87aa84405e9dd80fcb353fdefda4bf2647..622f5091de11427a7648aee6e56e7a8a2b252fdc 100644
--- a/spring-mock-ws/src/highlevelplanner/src/main.cpp
+++ b/spring-mock-ws/src/highlevelplanner/src/main.cpp
@@ -29,51 +29,51 @@ class HighlevelPlanner {
public:
HighlevelPlanner(ros::NodeHandle* nh) {
- // 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
- demographics_sub_ = nh->subscribe("demographics", 1, &HighlevelPlanner::demographicsCallback, 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
- output_pub_ = nh->advertise<std_msgs::Empty>("output", 1);
+ semanticscenedescription_sub_ = nh->subscribe("semanticscenedescription", 1, &HighlevelPlanner::semanticscenedescriptionCallback, this);
+ // 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
navgoals_pub_ = nh->advertise<std_msgs::Empty>("navgoals", 1);
// 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);
}
~HighlevelPlanner() {}
private:
- void semanticscenedescriptionCallback(const std_msgs::Empty::ConstPtr& msg)
+ void dialoguestateCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("highlevelplanner: received message: " << msg);
}
- void demographicsCallback(const std_msgs::Empty::ConstPtr& msg)
+ void tfpersonsCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("highlevelplanner: received message: " << msg);
}
- void dialoguestateCallback(const std_msgs::Empty::ConstPtr& msg)
+ void semanticscenedescriptionCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("highlevelplanner: received message: " << msg);
}
- void tfpersonsCallback(const std_msgs::Empty::ConstPtr& msg)
+ void demographicsCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("highlevelplanner: received message: " << msg);
}
- ros::Subscriber semanticscenedescription_sub_;
- ros::Subscriber demographics_sub_;
ros::Subscriber dialoguestate_sub_;
ros::Subscriber tfpersons_sub_;
+ ros::Subscriber semanticscenedescription_sub_;
+ ros::Subscriber demographics_sub_;
- ros::Publisher output_pub_;
ros::Publisher navgoals_pub_;
ros::Publisher interactionstate_pub_;
+ ros::Publisher output_pub_;
};
diff --git a/spring-mock-ws/src/interactionmanager/CMakeLists.txt b/spring-mock-ws/src/interactionmanager/CMakeLists.txt
index 3697c5085c72f630c221254c4bfed6c4f978e437..8ef9ffca195bd6a4747364eae8afb2e363a66e66 100644
--- a/spring-mock-ws/src/interactionmanager/CMakeLists.txt
+++ b/spring-mock-ws/src/interactionmanager/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/maskdetection/CMakeLists.txt b/spring-mock-ws/src/maskdetection/CMakeLists.txt
index 6db3b6dfb0fbe4f33c59c7d9af9ff05acf1037c4..cb65a6fadd9cd2cb88fb526e1efe775e0c1265f3 100644
--- a/spring-mock-ws/src/maskdetection/CMakeLists.txt
+++ b/spring-mock-ws/src/maskdetection/CMakeLists.txt
@@ -115,10 +115,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/nonverbalbehaviours/CMakeLists.txt b/spring-mock-ws/src/nonverbalbehaviours/CMakeLists.txt
index 8bc248a9e551bce48a88b8b50140165202d7ff37..8662e61fdd198615dfe141f463844f5731636922 100644
--- a/spring-mock-ws/src/nonverbalbehaviours/CMakeLists.txt
+++ b/spring-mock-ws/src/nonverbalbehaviours/CMakeLists.txt
@@ -115,10 +115,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/objectdetectionidentificationlocalisation/CMakeLists.txt b/spring-mock-ws/src/objectdetectionidentificationlocalisation/CMakeLists.txt
index 2af654da2f304f747be6c39384be18f353a22146..0888f7d92a3dfa605bd561ebb81dc93b9839e64d 100644
--- a/spring-mock-ws/src/objectdetectionidentificationlocalisation/CMakeLists.txt
+++ b/spring-mock-ws/src/objectdetectionidentificationlocalisation/CMakeLists.txt
@@ -115,10 +115,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/occupancymap/CMakeLists.txt b/spring-mock-ws/src/occupancymap/CMakeLists.txt
index c0d9e2f48d58e9cfcaaf3df607b366f853b380ed..6963409a5a004c200f1113817268f979557bd842 100644
--- a/spring-mock-ws/src/occupancymap/CMakeLists.txt
+++ b/spring-mock-ws/src/occupancymap/CMakeLists.txt
@@ -115,10 +115,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/occupancymap/src/main.cpp b/spring-mock-ws/src/occupancymap/src/main.cpp
index 28588ae7690c07be992192290fed533b3687d535..a94ca666064677eec70ba6af2bf7320ab503ca6d 100644
--- a/spring-mock-ws/src/occupancymap/src/main.cpp
+++ b/spring-mock-ws/src/occupancymap/src/main.cpp
@@ -30,10 +30,10 @@ class OccupancyMap {
public:
OccupancyMap(ros::NodeHandle* nh) {
- // 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);
+ // ATTENTION: this topic is not defined in the architecture design
+ tfbodies_sub_ = nh->subscribe("tfbodies", 1, &OccupancyMap::tfbodiesCallback, this);
map_refined_pub_ = nh->advertise<nav_msgs::OccupancyGrid>("map_refined", 1);
}
@@ -41,17 +41,17 @@ class OccupancyMap {
~OccupancyMap() {}
private:
- void tfbodiesCallback(const std_msgs::Empty::ConstPtr& msg)
+ void dense3dmapCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("occupancymap: received message: " << msg);
}
- void dense3dmapCallback(const std_msgs::Empty::ConstPtr& msg)
+ void tfbodiesCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("occupancymap: received message: " << msg);
}
- ros::Subscriber tfbodies_sub_;
ros::Subscriber dense3dmap_sub_;
+ ros::Subscriber tfbodies_sub_;
ros::Publisher map_refined_pub_;
diff --git a/spring-mock-ws/src/orbslam/CMakeLists.txt b/spring-mock-ws/src/orbslam/CMakeLists.txt
index c2d5f4ca82fe139bd300729dab3ba0a786a44d4b..1a6fc825a9342b530007ed27e408e74d64453838 100644
--- a/spring-mock-ws/src/orbslam/CMakeLists.txt
+++ b/spring-mock-ws/src/orbslam/CMakeLists.txt
@@ -116,10 +116,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/orbslam/src/main.cpp b/spring-mock-ws/src/orbslam/src/main.cpp
index 480430e3869ee4c6fd79c01e16203803a08afef9..4fe2fc007aaf69a69a80accb355aec613ccc9b52 100644
--- a/spring-mock-ws/src/orbslam/src/main.cpp
+++ b/spring-mock-ws/src/orbslam/src/main.cpp
@@ -23,9 +23,9 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "tf/transform_broadcaster.h"
#include "nav_msgs/OccupancyGrid.h"
#include "sensor_msgs/Image.h"
+#include "tf/transform_broadcaster.h"
class OrbSlam {
public:
diff --git a/spring-mock-ws/src/people3dtracker/CMakeLists.txt b/spring-mock-ws/src/people3dtracker/CMakeLists.txt
index 3dd481560f49c123d1567b13ecba659c779c18ff..fef3fce009033a3e61d19494177f5ef5e7e42f99 100644
--- a/spring-mock-ws/src/people3dtracker/CMakeLists.txt
+++ b/spring-mock-ws/src/people3dtracker/CMakeLists.txt
@@ -115,10 +115,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/personmanager/CMakeLists.txt b/spring-mock-ws/src/personmanager/CMakeLists.txt
index f7d36cf1aa7abb13580d461c5462d4d974ffa41c..cb57b74f04e7ab14e577c2dd3a30031c0b4414c2 100644
--- a/spring-mock-ws/src/personmanager/CMakeLists.txt
+++ b/spring-mock-ws/src/personmanager/CMakeLists.txt
@@ -115,10 +115,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/rgbdcamera_info/CMakeLists.txt b/spring-mock-ws/src/rgbdcamera_info/CMakeLists.txt
index 93569347867e4ea9f28c58aa240dd4ceeed79249..5d7d2a2fe6c616dd5288bceba40152fe786d5aca 100644
--- a/spring-mock-ws/src/rgbdcamera_info/CMakeLists.txt
+++ b/spring-mock-ws/src/rgbdcamera_info/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/robotfunctionallayer/CMakeLists.txt b/spring-mock-ws/src/robotfunctionallayer/CMakeLists.txt
index bd8183128025526f5b28b284dd16c812630d395a..5d6990239ef7c9908e90530589b7871feacbfbe6 100644
--- a/spring-mock-ws/src/robotfunctionallayer/CMakeLists.txt
+++ b/spring-mock-ws/src/robotfunctionallayer/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/robotgui/CMakeLists.txt b/spring-mock-ws/src/robotgui/CMakeLists.txt
index e866568c23ec152c47c47d6122c4073013e2da0b..bbbc59e84c8586048e072c61548654b903ba1a69 100644
--- a/spring-mock-ws/src/robotgui/CMakeLists.txt
+++ b/spring-mock-ws/src/robotgui/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/robotnonverbalbehaviours/CMakeLists.txt b/spring-mock-ws/src/robotnonverbalbehaviours/CMakeLists.txt
index d42214278d8300cca791e28b71d9306e8de332f0..c6b212b0a842ce94e6cf7caa8f7f0cbfdbfb3aa7 100644
--- a/spring-mock-ws/src/robotnonverbalbehaviours/CMakeLists.txt
+++ b/spring-mock-ws/src/robotnonverbalbehaviours/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp b/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp
index 78046d175a9c102e86ac0ee2c4301db70b00348d..6057e8e9099aab36e19ab95136804c58b6da2694 100644
--- a/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp
+++ b/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp
@@ -38,9 +38,9 @@ class RobotNonverbalBehaviours {
// ATTENTION: this topic is not defined in the architecture design
groups_sub_ = nh->subscribe("groups", 1, &RobotNonverbalBehaviours::groupsCallback, this);
// 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
+ followingnavgoals_sub_ = nh->subscribe("followingnavgoals", 1, &RobotNonverbalBehaviours::followingnavgoalsCallback, this);
// ATTENTION: this topic is not defined in the architecture design
lowlevelactions_pub_ = nh->advertise<std_msgs::Empty>("lowlevelactions", 1);
@@ -67,11 +67,11 @@ class RobotNonverbalBehaviours {
{
ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
}
- void followingnavgoalsCallback(const std_msgs::Empty::ConstPtr& msg)
+ void hppersonidCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
}
- void hppersonidCallback(const std_msgs::Empty::ConstPtr& msg)
+ void followingnavgoalsCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
}
@@ -80,8 +80,8 @@ class RobotNonverbalBehaviours {
ros::Subscriber occupancymap_sub_;
ros::Subscriber lookat_sub_;
ros::Subscriber groups_sub_;
- ros::Subscriber followingnavgoals_sub_;
ros::Subscriber hppersonid_sub_;
+ ros::Subscriber followingnavgoals_sub_;
ros::Publisher lowlevelactions_pub_;
ros::Publisher status_pub_;
diff --git a/spring-mock-ws/src/robotutterances/CMakeLists.txt b/spring-mock-ws/src/robotutterances/CMakeLists.txt
index f38e64c4bb95c04c857f7509aeb45045a6b7e6b4..766f914ade75bfe65847dd99d8a93cd0e53b2617 100644
--- a/spring-mock-ws/src/robotutterances/CMakeLists.txt
+++ b/spring-mock-ws/src/robotutterances/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/rosopenpose/CMakeLists.txt b/spring-mock-ws/src/rosopenpose/CMakeLists.txt
index 0434fdc314ff70b98bdeb155fd61cf7512faef41..62ea0a5981f4d951d222f5b770ed4703411b0055 100644
--- a/spring-mock-ws/src/rosopenpose/CMakeLists.txt
+++ b/spring-mock-ws/src/rosopenpose/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/sceneunderstanding/CMakeLists.txt b/spring-mock-ws/src/sceneunderstanding/CMakeLists.txt
index a422fd62fab62028f4f3f02cdc3a778f2e580ea0..aaf68864b4838b0fe84ecb59a386e85a26fec1c7 100644
--- a/spring-mock-ws/src/sceneunderstanding/CMakeLists.txt
+++ b/spring-mock-ws/src/sceneunderstanding/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/semanticmapping/CMakeLists.txt b/spring-mock-ws/src/semanticmapping/CMakeLists.txt
index 44e6bcbe3ea344ebe6a4146e7f4a70d660f51c6b..ed3e896829afb00b67c27f7f03e2d83fa47f6b82 100644
--- a/spring-mock-ws/src/semanticmapping/CMakeLists.txt
+++ b/spring-mock-ws/src/semanticmapping/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/soundlocalisation/CMakeLists.txt b/spring-mock-ws/src/soundlocalisation/CMakeLists.txt
index c0d620ab49e409f2404a8014926d1ee51aec7233..232221d6dcdbdb41c215826a99c5d661ac62d381 100644
--- a/spring-mock-ws/src/soundlocalisation/CMakeLists.txt
+++ b/spring-mock-ws/src/soundlocalisation/CMakeLists.txt
@@ -115,10 +115,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/speakerrecognition/CMakeLists.txt b/spring-mock-ws/src/speakerrecognition/CMakeLists.txt
index 7fb92ba5453375ff62c3829f47928772770f2613..afbff813828688d5ae216c1ca8bbaa31af1a4638 100644
--- a/spring-mock-ws/src/speakerrecognition/CMakeLists.txt
+++ b/spring-mock-ws/src/speakerrecognition/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/speechdiarization/CMakeLists.txt b/spring-mock-ws/src/speechdiarization/CMakeLists.txt
index 28daa46861d3059f309e67b8fcf9b100d1c974de..739a7751cdf415a6ac28b7ea42c43da617d01cea 100644
--- a/spring-mock-ws/src/speechdiarization/CMakeLists.txt
+++ b/spring-mock-ws/src/speechdiarization/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/speechsynthesis/CMakeLists.txt b/spring-mock-ws/src/speechsynthesis/CMakeLists.txt
index 0562fc0ed0f7e3021df7e7a78e0d8afe5015b3ab..bd91fc85e4235590c67e4ca45d97fb46a85bcdc5 100644
--- a/spring-mock-ws/src/speechsynthesis/CMakeLists.txt
+++ b/spring-mock-ws/src/speechsynthesis/CMakeLists.txt
@@ -114,10 +114,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/springarchitecture/CMakeLists.txt b/spring-mock-ws/src/springarchitecture/CMakeLists.txt
index 814303075a25575eb43b5b9357bfbb0b255cd591..7252bd490f4de202e471fdf8d34d654aef674acb 100644
--- a/spring-mock-ws/src/springarchitecture/CMakeLists.txt
+++ b/spring-mock-ws/src/springarchitecture/CMakeLists.txt
@@ -3,44 +3,44 @@ project(springarchitecture)
find_package(catkin REQUIRED COMPONENTS
- objectdetectionidentificationlocalisation
- robotfunctionallayer
- people3dtracker
- hri_msgs
- people3dposeestimation
asr
- userattentionestimation
+ speakerrecognition
+ hri_msgs
+ highlevelplanner
+ personreidentification
+ rgbdcamera_info
+ fformation
+ activityreco
+ nonverbalbehaviours
+ robotgui
+ maskdetection
+ speechsynthesis
+ uservisualfocus
+ speechdiarization
+ dialoguemanager
+ people3dtracker
+ personmanager
+ visualslam3dmap
+ robotfunctionallayer
interactionmanager
- body2dpose
+ objectdetectionidentificationlocalisation
robotnonverbalbehaviours
- depthestimationfrommonocular
+ body2dpose
+ occupancymap
softbiometrics
rgbhead
- personmanager
- rgbdcamera_info
- maskdetection
- soundlocalisation
+ userattentionestimation
+ depthestimationfrommonocular
+ semanticmapping
respeaker_ros
orbslam
- speechdiarization
+ sceneunderstanding
+ people3dposeestimation
+ multipeoplebodytracker
facedetection
- occupancymap
robotutterances
rosopenpose
- personreidentification
- highlevelplanner
- multipeoplebodytracker
- fformation
- activityreco
- nonverbalbehaviours
- speakerrecognition
- semanticmapping
- robotgui
- speechsynthesis
- dialoguemanager
- sceneunderstanding
- visualslam3dmap
- uservisualfocus
+ soundlocalisation
)
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 1a082d239ffe8e92a8a6a19617efc8ba3113110a..caf715b71c398ead196cbc6deb6e99b9c259d11e 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all.launch
@@ -1,72 +1,48 @@
<launch>
- <!-- 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 Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" 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 Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
</node>
<!-- launching hri_msgs (hri_msgs) -->
<node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
</node>
- <!-- launching People 3D pose estimation (people3dposeestimation) -->
- <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
- </node>
-
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
</node>
- <!-- launching User attention estimation (userattentionestimation) -->
- <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+ <!-- launching Person re-identification (personreidentification) -->
+ <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/<id>/roi"/>
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" 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"/>
+ <!-- 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 Robot non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" 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 Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching Soft biometrics (softbiometrics) -->
- <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
- </node>
-
- <!-- launching RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" 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">
+ <remap from="face_expression" to="/humans/faces/<id>/expression"/>
</node>
- <!-- 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"/>
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
</node>
<!-- launching Mask detection (maskdetection) -->
@@ -75,106 +51,130 @@
<remap from="face_mask" to="/humans/faces/<id>/mask"/>
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" 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 Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching ORB SLAM (orbslam) -->
- <node pkg="orbslam" name="orbslam" type="node" output="screen">
- <remap from="image_raw" to="/camera_torso/color/image_raw"/>
- <remap from="map" to="/map"/>
+ <!-- launching User visual focus (uservisualfocus) -->
+ <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
</node>
<!-- launching Speech diarization (speechdiarization) -->
<node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
</node>
- <!-- 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"/>
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="map_refined" to="/map_refined"/>
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" 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 Person re-identification (personreidentification) -->
- <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+ <!-- launching Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
- <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
- <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" 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 Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" 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 F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="groups" to="/h/i/groups"/>
+ <!-- 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 Soft biometrics (softbiometrics) -->
+ <node pkg="softbiometrics" name="softbiometrics" 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 RGB head (rgbhead) -->
+ <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ </node>
+
+ <!-- launching User attention estimation (userattentionestimation) -->
+ <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_expression" to="/humans/faces/<id>/expression"/>
</node>
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+ <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+ <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
</node>
<!-- launching Semantic mapping (semanticmapping) -->
<node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
- </node>
-
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" 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 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 Scene understanding (sceneunderstanding) -->
<node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- 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"/>
+ <!-- launching People 3D pose estimation (people3dposeestimation) -->
+ <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
</node>
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+ <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
+ <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" 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 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 Robot utterances (robotutterances) -->
+ <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+ </node>
+
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ </node>
+
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
</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 24c0b1c7c789590b62b404a522bb1307af08a970..87a3bfdd7957b2881b94cbfaef9211085a1ef21d 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
@@ -1,92 +1,97 @@
<launch>
<!-- this launch file starts all SPRING nodes except for BIU nodes. -->
- <!-- 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"/>
+ <!-- launching hri_msgs (hri_msgs) -->
+ <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
</node>
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" 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 Person re-identification (personreidentification) -->
+ <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</node>
- <!-- launching hri_msgs (hri_msgs) -->
- <node pkg="hri_msgs" name="hri_msgs" 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 People 3D pose estimation (people3dposeestimation) -->
- <node pkg="people3dposeestimation" name="people3dposeestimation" 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 User attention estimation (userattentionestimation) -->
- <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ </node>
+
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_expression" to="/humans/faces/<id>/expression"/>
</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 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"/>
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_mask" to="/humans/faces/<id>/mask"/>
</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 Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+ <!-- launching User visual focus (uservisualfocus) -->
+ <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
</node>
- <!-- launching Soft biometrics (softbiometrics) -->
- <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
</node>
- <!-- launching RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
<!-- launching Person manager (personmanager) -->
<node pkg="personmanager" name="personmanager" type="node" output="screen">
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
- <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+ <!-- 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 Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" 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 Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" 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"/>
+ <!-- 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 Face detection (facedetection) -->
- <node pkg="facedetection" name="facedetection" type="node" output="screen">
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" 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="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
</node>
<!-- launching Occupancy map (occupancymap) -->
@@ -94,72 +99,67 @@
<remap from="map_refined" to="/map_refined"/>
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
- </node>
-
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
- </node>
-
- <!-- launching Person re-identification (personreidentification) -->
- <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+ <!-- launching Soft biometrics (softbiometrics) -->
+ <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+ <!-- launching RGB head (rgbhead) -->
+ <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
- <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+ <!-- launching User attention estimation (userattentionestimation) -->
+ <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="groups" to="/h/i/groups"/>
+ <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+ <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
</node>
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
</node>
- <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_expression" to="/humans/faces/<id>/expression"/>
+ <!-- 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 Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" 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 Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- launching People 3D pose estimation (people3dposeestimation) -->
+ <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
</node>
- <!-- launching Dialogue manager (dialoguemanager) -->
- <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
+ <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" 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 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 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"/>
+ <!-- launching Robot utterances (robotutterances) -->
+ <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
</node>
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_CVUT.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_CVUT.launch
index c07a9ed0e2340dd597fa53693edec41a65208d05..89670e4a4933d7dd676588c33ac77f0532cf120f 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
@@ -1,35 +1,93 @@
<launch>
<!-- this launch file starts all SPRING nodes except for CVUT nodes. -->
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" 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 Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
</node>
<!-- launching hri_msgs (hri_msgs) -->
<node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
</node>
- <!-- launching People 3D pose estimation (people3dposeestimation) -->
- <node pkg="people3dposeestimation" name="people3dposeestimation" 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 Person re-identification (personreidentification) -->
+ <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</node>
- <!-- launching User attention estimation (userattentionestimation) -->
- <node pkg="userattentionestimation" name="userattentionestimation" 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 F-formation (fformation) -->
+ <node pkg="fformation" name="fformation" type="node" output="screen">
+ <remap from="groups" to="/h/i/groups"/>
+ </node>
+
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ </node>
+
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_expression" to="/humans/faces/<id>/expression"/>
+ </node>
+
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ </node>
+
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+ </node>
+
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ </node>
+
+ <!-- launching User visual focus (uservisualfocus) -->
+ <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+ </node>
+
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+ </node>
+
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ </node>
+
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+ </node>
+
+ <!-- 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">
</node>
<!-- launching Interaction manager (interactionmanager) -->
<node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" 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"/>
@@ -37,14 +95,6 @@
<remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
</node>
- <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
- </node>
-
- <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
- </node>
-
<!-- launching Soft biometrics (softbiometrics) -->
<node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/<id>/roi"/>
@@ -56,23 +106,13 @@
<remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
- </node>
-
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
- <remap from="image_raw" to="/camera_torso/color/image_raw"/>
- </node>
-
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <!-- launching User attention estimation (userattentionestimation) -->
+ <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_mask" to="/humans/faces/<id>/mask"/>
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+ <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
</node>
<!-- launching respeaker_ros (respeaker_ros) -->
@@ -86,31 +126,12 @@
<remap from="map" to="/map"/>
</node>
- <!-- launching Speech diarization (speechdiarization) -->
- <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
- </node>
-
- <!-- 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 Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
- </node>
-
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
- </node>
-
- <!-- launching Person re-identification (personreidentification) -->
- <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+ <!-- launching People 3D pose estimation (people3dposeestimation) -->
+ <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
</node>
<!-- launching Multi-people body tracker (multipeoplebodytracker) -->
@@ -119,43 +140,22 @@
<remap from="body_roi" to="/humans/bodies/<id>/roi"/>
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="groups" to="/h/i/groups"/>
- </node>
-
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
- </node>
-
- <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" 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"/>
- <remap from="face_expression" to="/humans/faces/<id>/expression"/>
- </node>
-
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
- </node>
-
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
- </node>
-
- <!-- launching Dialogue manager (dialoguemanager) -->
- <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ <!-- launching Robot utterances (robotutterances) -->
+ <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
</node>
- <!-- launching Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_ERM.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_ERM.launch
index 920e78de7dc8413db1159f56e8ce7754a39ae7eb..44b85fc3e2d85fea2683769dbbbcaaa11ab183a2 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
@@ -1,104 +1,105 @@
<launch>
<!-- this launch file starts all SPRING nodes except for ERM nodes. -->
- <!-- 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 Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" 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 Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
</node>
<!-- launching hri_msgs (hri_msgs) -->
<node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
</node>
- <!-- launching People 3D pose estimation (people3dposeestimation) -->
- <node pkg="people3dposeestimation" name="people3dposeestimation" 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 Person re-identification (personreidentification) -->
+ <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</node>
- <!-- launching User attention estimation (userattentionestimation) -->
- <node pkg="userattentionestimation" name="userattentionestimation" 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 F-formation (fformation) -->
+ <node pkg="fformation" name="fformation" type="node" output="screen">
+ <remap from="groups" to="/h/i/groups"/>
+ </node>
+
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ </node>
+
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_expression" to="/humans/faces/<id>/expression"/>
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/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"/>
+ <!-- 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 User visual focus (uservisualfocus) -->
+ <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
</node>
- <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
</node>
- <!-- launching Soft biometrics (softbiometrics) -->
- <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
</node>
- <!-- launching RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
<!-- launching Person manager (personmanager) -->
<node pkg="personmanager" name="personmanager" type="node" output="screen">
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
- <remap from="image_raw" to="/camera_torso/color/image_raw"/>
- </node>
-
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+ <!-- 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 Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" 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 Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" 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"/>
+ <!-- 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 Speech diarization (speechdiarization) -->
- <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
</node>
- <!-- launching Face detection (facedetection) -->
- <node pkg="facedetection" name="facedetection" 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="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
</node>
<!-- launching Occupancy map (occupancymap) -->
@@ -106,72 +107,71 @@
<remap from="map_refined" to="/map_refined"/>
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+ <!-- launching Soft biometrics (softbiometrics) -->
+ <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- launching RGB head (rgbhead) -->
+ <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching Person re-identification (personreidentification) -->
- <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+ <!-- launching User attention estimation (userattentionestimation) -->
+ <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/<id>/roi"/>
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
- </node>
-
- <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
- <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+ <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+ <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" 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 Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
</node>
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" 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 Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_expression" to="/humans/faces/<id>/expression"/>
+ <!-- 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 Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <!-- launching People 3D pose estimation (people3dposeestimation) -->
+ <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
+ <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" 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 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 Robot utterances (robotutterances) -->
+ <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
</node>
- <!-- 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"/>
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_HWU.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_HWU.launch
index 20140b21f7bd7c1b27a32dbab800534dff82a67b..00667fe2f003333e574a2359e34e0a1f4b578f9c 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
@@ -1,100 +1,97 @@
<launch>
<!-- this launch file starts all SPRING nodes except for HWU nodes. -->
- <!-- 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 Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" 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 Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
</node>
<!-- launching hri_msgs (hri_msgs) -->
<node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
</node>
- <!-- launching People 3D pose estimation (people3dposeestimation) -->
- <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
+ <!-- launching Person re-identification (personreidentification) -->
+ <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</node>
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" 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 User attention estimation (userattentionestimation) -->
- <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <!-- launching F-formation (fformation) -->
+ <node pkg="fformation" name="fformation" type="node" output="screen">
+ <remap from="groups" to="/h/i/groups"/>
</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"/>
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_expression" to="/humans/faces/<id>/expression"/>
</node>
- <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
</node>
- <!-- launching Soft biometrics (softbiometrics) -->
- <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+ <remap from="face_mask" to="/humans/faces/<id>/mask"/>
</node>
- <!-- launching RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
+ <!-- launching User visual focus (uservisualfocus) -->
+ <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
- <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" 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 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 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"/>
+ <!-- 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 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 Face detection (facedetection) -->
- <node pkg="facedetection" name="facedetection" type="node" output="screen">
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" 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="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
</node>
<!-- launching Occupancy map (occupancymap) -->
@@ -102,60 +99,63 @@
<remap from="map_refined" to="/map_refined"/>
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
- </node>
-
- <!-- launching Person re-identification (personreidentification) -->
- <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+ <!-- launching Soft biometrics (softbiometrics) -->
+ <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
</node>
- <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
- <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+ <!-- launching RGB head (rgbhead) -->
+ <node pkg="rgbhead" name="rgbhead" 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 F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="groups" to="/h/i/groups"/>
+ <!-- launching User attention estimation (userattentionestimation) -->
+ <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</node>
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+ <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
</node>
- <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_expression" to="/humans/faces/<id>/expression"/>
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
</node>
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" 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 Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" 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 Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <!-- launching People 3D pose estimation (people3dposeestimation) -->
+ <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
+ <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" 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 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"/>
+ <!-- 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 User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ </node>
+
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
</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 51a4c00d2c599babfd8e7fbddf201bbb0266136b..ddc14c6fea92011b06e6bde6cff412bcc106ed6c 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
@@ -1,61 +1,49 @@
<launch>
<!-- this launch file starts all SPRING nodes except for INRIA nodes. -->
- <!-- 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"/>
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
</node>
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+ <!-- launching Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
</node>
<!-- launching hri_msgs (hri_msgs) -->
<node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
</node>
- <!-- launching People 3D pose estimation (people3dposeestimation) -->
- <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
- </node>
-
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
</node>
- <!-- launching User attention estimation (userattentionestimation) -->
- <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+ <!-- launching Person re-identification (personreidentification) -->
+ <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/<id>/roi"/>
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" 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 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"/>
+ <!-- launching F-formation (fformation) -->
+ <node pkg="fformation" name="fformation" type="node" output="screen">
+ <remap from="groups" to="/h/i/groups"/>
</node>
- <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching Soft biometrics (softbiometrics) -->
- <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
- </node>
-
- <!-- launching RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="face_expression" to="/humans/faces/<id>/expression"/>
</node>
- <!-- 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"/>
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
</node>
<!-- launching Mask detection (maskdetection) -->
@@ -64,96 +52,108 @@
<remap from="face_mask" to="/humans/faces/<id>/mask"/>
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" 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 Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching ORB SLAM (orbslam) -->
- <node pkg="orbslam" name="orbslam" type="node" output="screen">
- <remap from="image_raw" to="/camera_torso/color/image_raw"/>
- <remap from="map" to="/map"/>
+ <!-- launching User visual focus (uservisualfocus) -->
+ <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
</node>
<!-- launching Speech diarization (speechdiarization) -->
<node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
</node>
- <!-- 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"/>
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="map_refined" to="/map_refined"/>
+ <!-- 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 Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching Person re-identification (personreidentification) -->
- <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <!-- launching Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" 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 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 Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" 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 Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+ <!-- launching Soft biometrics (softbiometrics) -->
+ <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_expression" to="/humans/faces/<id>/expression"/>
+ <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
</node>
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+ <!-- launching RGB head (rgbhead) -->
+ <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <!-- launching User attention estimation (userattentionestimation) -->
+ <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+ <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" 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 respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ </node>
+
+ <!-- launching ORB SLAM (orbslam) -->
+ <node pkg="orbslam" name="orbslam" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+ <remap from="map" to="/map"/>
</node>
<!-- launching Scene understanding (sceneunderstanding) -->
<node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- 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"/>
+ <!-- launching People 3D pose estimation (people3dposeestimation) -->
+ <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
</node>
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" 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 Robot utterances (robotutterances) -->
+ <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+ </node>
+
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_Other.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_Other.launch
index 7ed538952ad860f9f461e3fda61b3233627ddec2..f5b522f565cd6b0583a7d5485054db998ca121f5 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
@@ -1,177 +1,177 @@
<launch>
<!-- this launch file starts all SPRING nodes except for Other nodes. -->
- <!-- 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"/>
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
</node>
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+ <!-- launching Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
</node>
- <!-- launching People 3D pose estimation (people3dposeestimation) -->
- <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
+ <!-- launching Person re-identification (personreidentification) -->
+ <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</node>
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" 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 User attention estimation (userattentionestimation) -->
- <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <!-- launching F-formation (fformation) -->
+ <node pkg="fformation" name="fformation" type="node" output="screen">
+ <remap from="groups" to="/h/i/groups"/>
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" 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"/>
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_expression" to="/humans/faces/<id>/expression"/>
</node>
- <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
</node>
- <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_mask" to="/humans/faces/<id>/mask"/>
</node>
- <!-- launching Soft biometrics (softbiometrics) -->
- <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching User visual focus (uservisualfocus) -->
+ <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
- <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" 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 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 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"/>
+ <!-- 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 Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
- <!-- launching Face detection (facedetection) -->
- <node pkg="facedetection" name="facedetection" 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"/>
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="map_refined" to="/map_refined"/>
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" 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 ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" 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 Person re-identification (personreidentification) -->
- <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+ <!-- launching Soft biometrics (softbiometrics) -->
+ <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+ <!-- launching RGB head (rgbhead) -->
+ <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
- <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+ <!-- launching User attention estimation (userattentionestimation) -->
+ <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/<id>/roi"/>
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="groups" to="/h/i/groups"/>
+ <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+ <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
</node>
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
</node>
- <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_expression" to="/humans/faces/<id>/expression"/>
+ <!-- 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 Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" 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 Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <!-- launching People 3D pose estimation (people3dposeestimation) -->
+ <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
+ <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" 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 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 Robot utterances (robotutterances) -->
+ <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
</node>
- <!-- 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"/>
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_PAL.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_PAL.launch
index 4471e0b5508f1810c57ea727f006b965eb2f2d88..b6151b066280f1c917fe19d1421e35d82609d721 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
@@ -1,55 +1,44 @@
<launch>
<!-- this launch file starts all SPRING nodes except for PAL nodes. -->
- <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
- <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- 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 Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
</node>
<!-- launching hri_msgs (hri_msgs) -->
<node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
</node>
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
</node>
- <!-- launching User attention estimation (userattentionestimation) -->
- <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+ <!-- launching Person re-identification (personreidentification) -->
+ <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/<id>/roi"/>
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" 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 non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" 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 Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching Soft biometrics (softbiometrics) -->
- <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+ <remap from="face_expression" to="/humans/faces/<id>/expression"/>
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
</node>
<!-- launching Mask detection (maskdetection) -->
@@ -58,91 +47,102 @@
<remap from="face_mask" to="/humans/faces/<id>/mask"/>
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <!-- launching User visual focus (uservisualfocus) -->
+ <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
</node>
<!-- launching Speech diarization (speechdiarization) -->
<node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
</node>
- <!-- 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"/>
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="map_refined" to="/map_refined"/>
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" 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 Person re-identification (personreidentification) -->
- <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <!-- launching Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" 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 Multi-people body tracker (multipeoplebodytracker) -->
- <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" 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 F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="groups" to="/h/i/groups"/>
+ <!-- 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 Soft biometrics (softbiometrics) -->
+ <node pkg="softbiometrics" name="softbiometrics" 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 User attention estimation (userattentionestimation) -->
+ <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_expression" to="/humans/faces/<id>/expression"/>
</node>
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+ <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+ <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
</node>
<!-- launching Semantic mapping (semanticmapping) -->
<node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching Dialogue manager (dialoguemanager) -->
- <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
+ <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" 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 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 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"/>
+ <!-- launching Robot utterances (robotutterances) -->
+ <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
</node>
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ </node>
+
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
</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 65d262097b5d83828686d83427da097fbb3f0aa9..f01b69f8ea795c9888b240cc4b10e1e090f79699 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
@@ -1,70 +1,72 @@
<launch>
<!-- this launch file starts all SPRING nodes except for UNITN nodes. -->
- <!-- 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 Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" 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 Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
</node>
<!-- launching hri_msgs (hri_msgs) -->
<node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
</node>
- <!-- launching People 3D pose estimation (people3dposeestimation) -->
- <node pkg="people3dposeestimation" name="people3dposeestimation" 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 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 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 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 RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+ </node>
+
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ </node>
+
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
<!-- launching Person manager (personmanager) -->
<node pkg="personmanager" name="personmanager" type="node" output="screen">
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
- <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+ <!-- 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 Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" 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 Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" 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"/>
+ <!-- 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 Speech diarization (speechdiarization) -->
- <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
</node>
<!-- launching Occupancy map (occupancymap) -->
@@ -72,52 +74,50 @@
<remap from="map_refined" to="/map_refined"/>
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
- </node>
-
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- launching RGB head (rgbhead) -->
+ <node pkg="rgbhead" name="rgbhead" 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 Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
</node>
- <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
- <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
+ <!-- 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 Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" 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 Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <!-- launching People 3D pose estimation (people3dposeestimation) -->
+ <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
+ <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" 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 Dialogue manager (dialoguemanager) -->
- <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ <!-- launching Robot utterances (robotutterances) -->
+ <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
</node>
- <!-- launching Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- 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"/>
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
</node>
diff --git a/spring-mock-ws/src/springarchitecture/package.xml b/spring-mock-ws/src/springarchitecture/package.xml
index b5669886c2ee8e738dad0ad2e90f84008ec64c85..67bf16170c3eaedf18acd719b2dc312e4923bddd 100644
--- a/spring-mock-ws/src/springarchitecture/package.xml
+++ b/spring-mock-ws/src/springarchitecture/package.xml
@@ -9,44 +9,44 @@
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
- <depend>objectdetectionidentificationlocalisation</depend>
- <depend>robotfunctionallayer</depend>
- <depend>people3dtracker</depend>
- <depend>hri_msgs</depend>
- <depend>people3dposeestimation</depend>
<depend>asr</depend>
- <depend>userattentionestimation</depend>
+ <depend>speakerrecognition</depend>
+ <depend>hri_msgs</depend>
+ <depend>highlevelplanner</depend>
+ <depend>personreidentification</depend>
+ <depend>rgbdcamera_info</depend>
+ <depend>fformation</depend>
+ <depend>activityreco</depend>
+ <depend>nonverbalbehaviours</depend>
+ <depend>robotgui</depend>
+ <depend>maskdetection</depend>
+ <depend>speechsynthesis</depend>
+ <depend>uservisualfocus</depend>
+ <depend>speechdiarization</depend>
+ <depend>dialoguemanager</depend>
+ <depend>people3dtracker</depend>
+ <depend>personmanager</depend>
+ <depend>visualslam3dmap</depend>
+ <depend>robotfunctionallayer</depend>
<depend>interactionmanager</depend>
- <depend>body2dpose</depend>
+ <depend>objectdetectionidentificationlocalisation</depend>
<depend>robotnonverbalbehaviours</depend>
- <depend>depthestimationfrommonocular</depend>
+ <depend>body2dpose</depend>
+ <depend>occupancymap</depend>
<depend>softbiometrics</depend>
<depend>rgbhead</depend>
- <depend>personmanager</depend>
- <depend>rgbdcamera_info</depend>
- <depend>maskdetection</depend>
- <depend>soundlocalisation</depend>
+ <depend>userattentionestimation</depend>
+ <depend>depthestimationfrommonocular</depend>
+ <depend>semanticmapping</depend>
<depend>respeaker_ros</depend>
<depend>orbslam</depend>
- <depend>speechdiarization</depend>
+ <depend>sceneunderstanding</depend>
+ <depend>people3dposeestimation</depend>
+ <depend>multipeoplebodytracker</depend>
<depend>facedetection</depend>
- <depend>occupancymap</depend>
<depend>robotutterances</depend>
<depend>rosopenpose</depend>
- <depend>personreidentification</depend>
- <depend>highlevelplanner</depend>
- <depend>multipeoplebodytracker</depend>
- <depend>fformation</depend>
- <depend>activityreco</depend>
- <depend>nonverbalbehaviours</depend>
- <depend>speakerrecognition</depend>
- <depend>semanticmapping</depend>
- <depend>robotgui</depend>
- <depend>speechsynthesis</depend>
- <depend>dialoguemanager</depend>
- <depend>sceneunderstanding</depend>
- <depend>visualslam3dmap</depend>
- <depend>uservisualfocus</depend>
+ <depend>soundlocalisation</depend>
<export>
diff --git a/spring-mock-ws/src/visualslam3dmap/CMakeLists.txt b/spring-mock-ws/src/visualslam3dmap/CMakeLists.txt
index f2c088f9d41e05961673035e6d7e166e9213cfb9..015739d7a633af42ba905599131f92c11dff128d 100644
--- a/spring-mock-ws/src/visualslam3dmap/CMakeLists.txt
+++ b/spring-mock-ws/src/visualslam3dmap/CMakeLists.txt
@@ -116,10 +116,8 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
## Declare a C++ library
# add_library(${PROJECT_NAME}
diff --git a/spring-mock-ws/src/visualslam3dmap/src/main.cpp b/spring-mock-ws/src/visualslam3dmap/src/main.cpp
index 1b09822439ef823ebeddeca7c286a67ce22de3ee..3037c5e8a03f5e5c3764c3398910018520c8cabb 100644
--- a/spring-mock-ws/src/visualslam3dmap/src/main.cpp
+++ b/spring-mock-ws/src/visualslam3dmap/src/main.cpp
@@ -23,18 +23,18 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "sensor_msgs/Image.h"
#include "tf/transform_broadcaster.h"
#include "std_msgs/Empty.h"
+#include "sensor_msgs/Image.h"
class VisualSlam3dMap {
public:
VisualSlam3dMap(ros::NodeHandle* nh) {
- 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
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);
@@ -43,22 +43,22 @@ class VisualSlam3dMap {
~VisualSlam3dMap() {}
private:
- void image_headCallback(const sensor_msgs::Image::ConstPtr& msg)
+ void localisationpriorCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("visualslam3dmap: received message: " << msg);
}
- void image_torsoCallback(const sensor_msgs::Image::ConstPtr& msg)
+ void image_headCallback(const sensor_msgs::Image::ConstPtr& msg)
{
ROS_INFO_STREAM("visualslam3dmap: received message: " << msg);
}
- void localisationpriorCallback(const std_msgs::Empty::ConstPtr& msg)
+ void image_torsoCallback(const sensor_msgs::Image::ConstPtr& msg)
{
ROS_INFO_STREAM("visualslam3dmap: received message: " << msg);
}
+ ros::Subscriber localisationprior_sub_;
ros::Subscriber image_head_sub_;
ros::Subscriber image_torso_sub_;
- ros::Subscriber localisationprior_sub_;
ros::Publisher dense3dmap_pub_;