From 612091041af735e259649b9f57fb771770e51db3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?S=C3=A9verin=20Lemaignan?=
<severin.lemaignan@pal-robotics.com>
Date: Tue, 30 Nov 2021 12:49:41 +0100
Subject: [PATCH] [ros] added missing nodes
---
.../CMakeLists.txt | 203 +++++++++++++++++
.../depthestimationfrommonocular/package.xml | 58 +++++
.../depthestimationfrommonocular/src/main.cpp | 66 ++++++
.../src/multipeoplebodytracker/CMakeLists.txt | 204 +++++++++++++++++
.../src/multipeoplebodytracker/package.xml | 59 +++++
.../src/multipeoplebodytracker/src/main.cpp | 65 ++++++
.../src/people3dposeestimation/CMakeLists.txt | 203 +++++++++++++++++
.../src/people3dposeestimation/package.xml | 58 +++++
.../src/people3dposeestimation/src/main.cpp | 66 ++++++
.../src/personreidentification/CMakeLists.txt | 204 +++++++++++++++++
.../src/personreidentification/package.xml | 59 +++++
.../src/personreidentification/src/main.cpp | 69 ++++++
spring-mock-ws/src/rgbhead/CMakeLists.txt | 203 +++++++++++++++++
spring-mock-ws/src/rgbhead/package.xml | 58 +++++
spring-mock-ws/src/rgbhead/src/main.cpp | 58 +++++
.../src/softbiometrics/CMakeLists.txt | 203 +++++++++++++++++
spring-mock-ws/src/softbiometrics/package.xml | 58 +++++
.../src/softbiometrics/src/main.cpp | 65 ++++++
.../userattentionestimation/CMakeLists.txt | 205 ++++++++++++++++++
.../src/userattentionestimation/package.xml | 60 +++++
.../src/userattentionestimation/src/main.cpp | 74 +++++++
.../src/uservisualfocus/CMakeLists.txt | 203 +++++++++++++++++
.../src/uservisualfocus/package.xml | 58 +++++
.../src/uservisualfocus/src/main.cpp | 104 +++++++++
24 files changed, 2663 insertions(+)
create mode 100644 spring-mock-ws/src/depthestimationfrommonocular/CMakeLists.txt
create mode 100644 spring-mock-ws/src/depthestimationfrommonocular/package.xml
create mode 100644 spring-mock-ws/src/depthestimationfrommonocular/src/main.cpp
create mode 100644 spring-mock-ws/src/multipeoplebodytracker/CMakeLists.txt
create mode 100644 spring-mock-ws/src/multipeoplebodytracker/package.xml
create mode 100644 spring-mock-ws/src/multipeoplebodytracker/src/main.cpp
create mode 100644 spring-mock-ws/src/people3dposeestimation/CMakeLists.txt
create mode 100644 spring-mock-ws/src/people3dposeestimation/package.xml
create mode 100644 spring-mock-ws/src/people3dposeestimation/src/main.cpp
create mode 100644 spring-mock-ws/src/personreidentification/CMakeLists.txt
create mode 100644 spring-mock-ws/src/personreidentification/package.xml
create mode 100644 spring-mock-ws/src/personreidentification/src/main.cpp
create mode 100644 spring-mock-ws/src/rgbhead/CMakeLists.txt
create mode 100644 spring-mock-ws/src/rgbhead/package.xml
create mode 100644 spring-mock-ws/src/rgbhead/src/main.cpp
create mode 100644 spring-mock-ws/src/softbiometrics/CMakeLists.txt
create mode 100644 spring-mock-ws/src/softbiometrics/package.xml
create mode 100644 spring-mock-ws/src/softbiometrics/src/main.cpp
create mode 100644 spring-mock-ws/src/userattentionestimation/CMakeLists.txt
create mode 100644 spring-mock-ws/src/userattentionestimation/package.xml
create mode 100644 spring-mock-ws/src/userattentionestimation/src/main.cpp
create mode 100644 spring-mock-ws/src/uservisualfocus/CMakeLists.txt
create mode 100644 spring-mock-ws/src/uservisualfocus/package.xml
create mode 100644 spring-mock-ws/src/uservisualfocus/src/main.cpp
diff --git a/spring-mock-ws/src/depthestimationfrommonocular/CMakeLists.txt b/spring-mock-ws/src/depthestimationfrommonocular/CMakeLists.txt
new file mode 100644
index 0000000..e710e10
--- /dev/null
+++ b/spring-mock-ws/src/depthestimationfrommonocular/CMakeLists.txt
@@ -0,0 +1,203 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(depthestimationfrommonocular)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES depthestimationfrommonocular
+# CATKIN_DEPENDS roscpp
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/depthestimationfrommonocular.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(${PROJECT_NAME}_node src/main.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}_node
+ ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+install(TARGETS ${PROJECT_NAME}_node
+ RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_depthestimationfrommonocular.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/spring-mock-ws/src/depthestimationfrommonocular/package.xml b/spring-mock-ws/src/depthestimationfrommonocular/package.xml
new file mode 100644
index 0000000..d48c7fc
--- /dev/null
+++ b/spring-mock-ws/src/depthestimationfrommonocular/package.xml
@@ -0,0 +1,58 @@
+<?xml version="1.0"?>
+<package format="3">
+ <name>depthestimationfrommonocular</name>
+ <version>1.0.0</version>
+ <description>Depth estimation from monocular (UNITN) . Auto-generated by Boxology 1.3.1.</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="todo@example.com">TODO</maintainer>
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>BSD</license>
+
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/NAME</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+ <!-- The *depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+ <!-- <depend>roscpp</depend> -->
+ <!-- Note that this is equivalent to the following: -->
+ <!-- <build_depend>roscpp</build_depend> -->
+ <!-- <exec_depend>roscpp</exec_depend> -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use build_export_depend for packages you need in order to build against this package: -->
+ <!-- <build_export_depend>message_generation</build_export_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use exec_depend for packages you need at runtime: -->
+ <!-- <exec_depend>message_runtime</exec_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <!-- Use doc_depend for packages you need only for building documentation: -->
+ <!-- <doc_depend>doxygen</doc_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
+
+ <export>
+
+ </export>
+</package>
diff --git a/spring-mock-ws/src/depthestimationfrommonocular/src/main.cpp b/spring-mock-ws/src/depthestimationfrommonocular/src/main.cpp
new file mode 100644
index 0000000..79d8c0c
--- /dev/null
+++ b/spring-mock-ws/src/depthestimationfrommonocular/src/main.cpp
@@ -0,0 +1,66 @@
+/*
+ Copyright 2021-2025, SPRING Consortium
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
+
+
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
+
+class DepthEstimationFromMonocular {
+ public:
+ DepthEstimationFromMonocular(ros::NodeHandle* nh) {
+
+ // ATTENTION: this topic is not defined in the architecture design
+ input_sub_ = nh->subscribe("input", 1, &DepthEstimationFromMonocular::inputCallback, this);
+
+ // ATTENTION: this topic is not defined in the architecture design
+ depth_pub_ = nh->advertise<std_msgs::Empty>("depth", 1);
+ }
+
+ ~DepthEstimationFromMonocular() {}
+
+ private:
+ void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("depthestimationfrommonocular: received message: " << msg);
+ }
+
+ ros::Subscriber input_sub_;
+
+ ros::Publisher depth_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "depthestimationfrommonocular");
+
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+
+ auto depthestimationfrommonocular = DepthEstimationFromMonocular(&private_node_handle_);
+
+ ROS_INFO("Node depthestimationfrommonocular launched and ready.");
+ ros::spin();
+ return 0;
+}
diff --git a/spring-mock-ws/src/multipeoplebodytracker/CMakeLists.txt b/spring-mock-ws/src/multipeoplebodytracker/CMakeLists.txt
new file mode 100644
index 0000000..8b9b59e
--- /dev/null
+++ b/spring-mock-ws/src/multipeoplebodytracker/CMakeLists.txt
@@ -0,0 +1,204 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(multipeoplebodytracker)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ hri_msgs
+ sensor_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES multipeoplebodytracker
+# CATKIN_DEPENDS roscpp
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/multipeoplebodytracker.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(${PROJECT_NAME}_node src/main.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}_node
+ ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+install(TARGETS ${PROJECT_NAME}_node
+ RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_multipeoplebodytracker.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/spring-mock-ws/src/multipeoplebodytracker/package.xml b/spring-mock-ws/src/multipeoplebodytracker/package.xml
new file mode 100644
index 0000000..69bd48b
--- /dev/null
+++ b/spring-mock-ws/src/multipeoplebodytracker/package.xml
@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<package format="3">
+ <name>multipeoplebodytracker</name>
+ <version>1.0.0</version>
+ <description>Multi-people body tracker (INRIA) . Auto-generated by Boxology 1.3.1.</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="todo@example.com">TODO</maintainer>
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>BSD</license>
+
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/NAME</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+ <!-- The *depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+ <!-- <depend>roscpp</depend> -->
+ <!-- Note that this is equivalent to the following: -->
+ <!-- <build_depend>roscpp</build_depend> -->
+ <!-- <exec_depend>roscpp</exec_depend> -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use build_export_depend for packages you need in order to build against this package: -->
+ <!-- <build_export_depend>message_generation</build_export_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use exec_depend for packages you need at runtime: -->
+ <!-- <exec_depend>message_runtime</exec_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <!-- Use doc_depend for packages you need only for building documentation: -->
+ <!-- <doc_depend>doxygen</doc_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <exec_depend>roscpp</exec_depend>
+ <depend>hri_msgs</depend>
+ <depend>sensor_msgs</depend>
+
+ <export>
+
+ </export>
+</package>
diff --git a/spring-mock-ws/src/multipeoplebodytracker/src/main.cpp b/spring-mock-ws/src/multipeoplebodytracker/src/main.cpp
new file mode 100644
index 0000000..02a902b
--- /dev/null
+++ b/spring-mock-ws/src/multipeoplebodytracker/src/main.cpp
@@ -0,0 +1,65 @@
+/*
+ Copyright 2021-2025, SPRING Consortium
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
+
+
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "sensor_msgs/Image.h"
+#include "hri_msgs/RegionOfInterestStamped.h"
+
+class MultipeopleBodyTracker {
+ public:
+ MultipeopleBodyTracker(ros::NodeHandle* nh) {
+
+ image_raw_sub_ = nh->subscribe("image_raw", 1, &MultipeopleBodyTracker::image_rawCallback, this);
+
+ body_roi_pub_ = nh->advertise<hri_msgs::RegionOfInterestStamped>("body_roi", 1);
+ }
+
+ ~MultipeopleBodyTracker() {}
+
+ private:
+ void image_rawCallback(const sensor_msgs::Image::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("multipeoplebodytracker: received message: " << msg);
+ }
+
+ ros::Subscriber image_raw_sub_;
+
+ ros::Publisher body_roi_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "multipeoplebodytracker");
+
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+
+ auto multipeoplebodytracker = MultipeopleBodyTracker(&private_node_handle_);
+
+ ROS_INFO("Node multipeoplebodytracker launched and ready.");
+ ros::spin();
+ return 0;
+}
diff --git a/spring-mock-ws/src/people3dposeestimation/CMakeLists.txt b/spring-mock-ws/src/people3dposeestimation/CMakeLists.txt
new file mode 100644
index 0000000..3ae3ad5
--- /dev/null
+++ b/spring-mock-ws/src/people3dposeestimation/CMakeLists.txt
@@ -0,0 +1,203 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(people3dposeestimation)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES people3dposeestimation
+# CATKIN_DEPENDS roscpp
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/people3dposeestimation.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(${PROJECT_NAME}_node src/main.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}_node
+ ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+install(TARGETS ${PROJECT_NAME}_node
+ RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_people3dposeestimation.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/spring-mock-ws/src/people3dposeestimation/package.xml b/spring-mock-ws/src/people3dposeestimation/package.xml
new file mode 100644
index 0000000..6610672
--- /dev/null
+++ b/spring-mock-ws/src/people3dposeestimation/package.xml
@@ -0,0 +1,58 @@
+<?xml version="1.0"?>
+<package format="3">
+ <name>people3dposeestimation</name>
+ <version>1.0.0</version>
+ <description>People 3D pose estimation (PAL) . Auto-generated by Boxology 1.3.1.</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="todo@example.com">TODO</maintainer>
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>BSD</license>
+
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/NAME</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+ <!-- The *depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+ <!-- <depend>roscpp</depend> -->
+ <!-- Note that this is equivalent to the following: -->
+ <!-- <build_depend>roscpp</build_depend> -->
+ <!-- <exec_depend>roscpp</exec_depend> -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use build_export_depend for packages you need in order to build against this package: -->
+ <!-- <build_export_depend>message_generation</build_export_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use exec_depend for packages you need at runtime: -->
+ <!-- <exec_depend>message_runtime</exec_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <!-- Use doc_depend for packages you need only for building documentation: -->
+ <!-- <doc_depend>doxygen</doc_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
+
+ <export>
+
+ </export>
+</package>
diff --git a/spring-mock-ws/src/people3dposeestimation/src/main.cpp b/spring-mock-ws/src/people3dposeestimation/src/main.cpp
new file mode 100644
index 0000000..515cd71
--- /dev/null
+++ b/spring-mock-ws/src/people3dposeestimation/src/main.cpp
@@ -0,0 +1,66 @@
+/*
+ Copyright 2021-2025, SPRING Consortium
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
+
+
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
+
+class People3dPoseEstimation {
+ public:
+ People3dPoseEstimation(ros::NodeHandle* nh) {
+
+ // ATTENTION: this topic is not defined in the architecture design
+ input_sub_ = nh->subscribe("input", 1, &People3dPoseEstimation::inputCallback, this);
+
+ // ATTENTION: this topic is not defined in the architecture design
+ output_pub_ = nh->advertise<std_msgs::Empty>("output", 1);
+ }
+
+ ~People3dPoseEstimation() {}
+
+ private:
+ void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("people3dposeestimation: received message: " << msg);
+ }
+
+ ros::Subscriber input_sub_;
+
+ ros::Publisher output_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "people3dposeestimation");
+
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+
+ auto people3dposeestimation = People3dPoseEstimation(&private_node_handle_);
+
+ ROS_INFO("Node people3dposeestimation launched and ready.");
+ ros::spin();
+ return 0;
+}
diff --git a/spring-mock-ws/src/personreidentification/CMakeLists.txt b/spring-mock-ws/src/personreidentification/CMakeLists.txt
new file mode 100644
index 0000000..3343d05
--- /dev/null
+++ b/spring-mock-ws/src/personreidentification/CMakeLists.txt
@@ -0,0 +1,204 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(personreidentification)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ hri_msgs
+ std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES personreidentification
+# CATKIN_DEPENDS roscpp
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/personreidentification.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(${PROJECT_NAME}_node src/main.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}_node
+ ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+install(TARGETS ${PROJECT_NAME}_node
+ RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_personreidentification.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/spring-mock-ws/src/personreidentification/package.xml b/spring-mock-ws/src/personreidentification/package.xml
new file mode 100644
index 0000000..19aca1c
--- /dev/null
+++ b/spring-mock-ws/src/personreidentification/package.xml
@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<package format="3">
+ <name>personreidentification</name>
+ <version>1.0.0</version>
+ <description>Person re-identification (UNITN) . Auto-generated by Boxology 1.3.1.</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="todo@example.com">TODO</maintainer>
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>BSD</license>
+
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/NAME</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+ <!-- The *depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+ <!-- <depend>roscpp</depend> -->
+ <!-- Note that this is equivalent to the following: -->
+ <!-- <build_depend>roscpp</build_depend> -->
+ <!-- <exec_depend>roscpp</exec_depend> -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use build_export_depend for packages you need in order to build against this package: -->
+ <!-- <build_export_depend>message_generation</build_export_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use exec_depend for packages you need at runtime: -->
+ <!-- <exec_depend>message_runtime</exec_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <!-- Use doc_depend for packages you need only for building documentation: -->
+ <!-- <doc_depend>doxygen</doc_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <exec_depend>roscpp</exec_depend>
+ <depend>hri_msgs</depend>
+ <depend>std_msgs</depend>
+
+ <export>
+
+ </export>
+</package>
diff --git a/spring-mock-ws/src/personreidentification/src/main.cpp b/spring-mock-ws/src/personreidentification/src/main.cpp
new file mode 100644
index 0000000..c42ad67
--- /dev/null
+++ b/spring-mock-ws/src/personreidentification/src/main.cpp
@@ -0,0 +1,69 @@
+/*
+ Copyright 2021-2025, SPRING Consortium
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
+
+
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
+#include "hri_msgs/RegionOfInterestStamped.h"
+
+class PersonReidentification {
+ public:
+ PersonReidentification(ros::NodeHandle* nh) {
+
+ face_roi_sub_ = nh->subscribe("face_roi", 1, &PersonReidentification::face_roiCallback, this);
+
+ // ATTENTION: this topic is not defined in the architecture design
+ hpersonspersonidface_id_pub_ = nh->advertise<std_msgs::Empty>("hpersonspersonidface_id", 1);
+ // ATTENTION: this topic is not defined in the architecture design
+ hpersonspersonidbody_id_pub_ = nh->advertise<std_msgs::Empty>("hpersonspersonidbody_id", 1);
+ }
+
+ ~PersonReidentification() {}
+
+ private:
+ void face_roiCallback(const hri_msgs::RegionOfInterestStamped::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("personreidentification: received message: " << msg);
+ }
+
+ ros::Subscriber face_roi_sub_;
+
+ ros::Publisher hpersonspersonidface_id_pub_;
+ ros::Publisher hpersonspersonidbody_id_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "personreidentification");
+
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+
+ auto personreidentification = PersonReidentification(&private_node_handle_);
+
+ ROS_INFO("Node personreidentification launched and ready.");
+ ros::spin();
+ return 0;
+}
diff --git a/spring-mock-ws/src/rgbhead/CMakeLists.txt b/spring-mock-ws/src/rgbhead/CMakeLists.txt
new file mode 100644
index 0000000..714c43c
--- /dev/null
+++ b/spring-mock-ws/src/rgbhead/CMakeLists.txt
@@ -0,0 +1,203 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(rgbhead)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ sensor_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES rgbhead
+# CATKIN_DEPENDS roscpp
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/rgbhead.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(${PROJECT_NAME}_node src/main.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}_node
+ ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+install(TARGETS ${PROJECT_NAME}_node
+ RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_rgbhead.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/spring-mock-ws/src/rgbhead/package.xml b/spring-mock-ws/src/rgbhead/package.xml
new file mode 100644
index 0000000..683601d
--- /dev/null
+++ b/spring-mock-ws/src/rgbhead/package.xml
@@ -0,0 +1,58 @@
+<?xml version="1.0"?>
+<package format="3">
+ <name>rgbhead</name>
+ <version>1.0.0</version>
+ <description>RGB head (PAL) . Auto-generated by Boxology 1.3.1.</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="todo@example.com">TODO</maintainer>
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>BSD</license>
+
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/NAME</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+ <!-- The *depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+ <!-- <depend>roscpp</depend> -->
+ <!-- Note that this is equivalent to the following: -->
+ <!-- <build_depend>roscpp</build_depend> -->
+ <!-- <exec_depend>roscpp</exec_depend> -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use build_export_depend for packages you need in order to build against this package: -->
+ <!-- <build_export_depend>message_generation</build_export_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use exec_depend for packages you need at runtime: -->
+ <!-- <exec_depend>message_runtime</exec_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <!-- Use doc_depend for packages you need only for building documentation: -->
+ <!-- <doc_depend>doxygen</doc_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <exec_depend>roscpp</exec_depend>
+ <depend>sensor_msgs</depend>
+
+ <export>
+
+ </export>
+</package>
diff --git a/spring-mock-ws/src/rgbhead/src/main.cpp b/spring-mock-ws/src/rgbhead/src/main.cpp
new file mode 100644
index 0000000..b15eefd
--- /dev/null
+++ b/spring-mock-ws/src/rgbhead/src/main.cpp
@@ -0,0 +1,58 @@
+/*
+ Copyright 2021-2025, SPRING Consortium
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
+
+
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "sensor_msgs/Image.h"
+
+class RgbHead {
+ public:
+ RgbHead(ros::NodeHandle* nh) {
+
+
+ image_raw_pub_ = nh->advertise<sensor_msgs::Image>("image_raw", 1);
+ }
+
+ ~RgbHead() {}
+
+ private:
+
+
+ ros::Publisher image_raw_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "rgbhead");
+
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+
+ auto rgbhead = RgbHead(&private_node_handle_);
+
+ ROS_INFO("Node rgbhead launched and ready.");
+ ros::spin();
+ return 0;
+}
diff --git a/spring-mock-ws/src/softbiometrics/CMakeLists.txt b/spring-mock-ws/src/softbiometrics/CMakeLists.txt
new file mode 100644
index 0000000..7a1e96a
--- /dev/null
+++ b/spring-mock-ws/src/softbiometrics/CMakeLists.txt
@@ -0,0 +1,203 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(softbiometrics)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ hri_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES softbiometrics
+# CATKIN_DEPENDS roscpp
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/softbiometrics.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(${PROJECT_NAME}_node src/main.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}_node
+ ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+install(TARGETS ${PROJECT_NAME}_node
+ RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_softbiometrics.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/spring-mock-ws/src/softbiometrics/package.xml b/spring-mock-ws/src/softbiometrics/package.xml
new file mode 100644
index 0000000..686a6d8
--- /dev/null
+++ b/spring-mock-ws/src/softbiometrics/package.xml
@@ -0,0 +1,58 @@
+<?xml version="1.0"?>
+<package format="3">
+ <name>softbiometrics</name>
+ <version>1.0.0</version>
+ <description>Soft biometrics (UNITN) . Auto-generated by Boxology 1.3.1.</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="todo@example.com">TODO</maintainer>
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>BSD</license>
+
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/NAME</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+ <!-- The *depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+ <!-- <depend>roscpp</depend> -->
+ <!-- Note that this is equivalent to the following: -->
+ <!-- <build_depend>roscpp</build_depend> -->
+ <!-- <exec_depend>roscpp</exec_depend> -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use build_export_depend for packages you need in order to build against this package: -->
+ <!-- <build_export_depend>message_generation</build_export_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use exec_depend for packages you need at runtime: -->
+ <!-- <exec_depend>message_runtime</exec_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <!-- Use doc_depend for packages you need only for building documentation: -->
+ <!-- <doc_depend>doxygen</doc_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <exec_depend>roscpp</exec_depend>
+ <depend>hri_msgs</depend>
+
+ <export>
+
+ </export>
+</package>
diff --git a/spring-mock-ws/src/softbiometrics/src/main.cpp b/spring-mock-ws/src/softbiometrics/src/main.cpp
new file mode 100644
index 0000000..be1a81a
--- /dev/null
+++ b/spring-mock-ws/src/softbiometrics/src/main.cpp
@@ -0,0 +1,65 @@
+/*
+ Copyright 2021-2025, SPRING Consortium
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
+
+
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "hri_msgs/AgeAndGender.h"
+#include "hri_msgs/RegionOfInterestStamped.h"
+
+class SoftBiometrics {
+ public:
+ SoftBiometrics(ros::NodeHandle* nh) {
+
+ face_roi_sub_ = nh->subscribe("face_roi", 1, &SoftBiometrics::face_roiCallback, this);
+
+ face_demographics_pub_ = nh->advertise<hri_msgs::AgeAndGender>("face_demographics", 1);
+ }
+
+ ~SoftBiometrics() {}
+
+ private:
+ void face_roiCallback(const hri_msgs::RegionOfInterestStamped::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("softbiometrics: received message: " << msg);
+ }
+
+ ros::Subscriber face_roi_sub_;
+
+ ros::Publisher face_demographics_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "softbiometrics");
+
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+
+ auto softbiometrics = SoftBiometrics(&private_node_handle_);
+
+ ROS_INFO("Node softbiometrics launched and ready.");
+ ros::spin();
+ return 0;
+}
diff --git a/spring-mock-ws/src/userattentionestimation/CMakeLists.txt b/spring-mock-ws/src/userattentionestimation/CMakeLists.txt
new file mode 100644
index 0000000..893ec1a
--- /dev/null
+++ b/spring-mock-ws/src/userattentionestimation/CMakeLists.txt
@@ -0,0 +1,205 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(userattentionestimation)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ hri_msgs
+ std_msgs
+ tf
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES userattentionestimation
+# CATKIN_DEPENDS roscpp
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/userattentionestimation.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(${PROJECT_NAME}_node src/main.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}_node
+ ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+install(TARGETS ${PROJECT_NAME}_node
+ RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_userattentionestimation.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/spring-mock-ws/src/userattentionestimation/package.xml b/spring-mock-ws/src/userattentionestimation/package.xml
new file mode 100644
index 0000000..46e41f4
--- /dev/null
+++ b/spring-mock-ws/src/userattentionestimation/package.xml
@@ -0,0 +1,60 @@
+<?xml version="1.0"?>
+<package format="3">
+ <name>userattentionestimation</name>
+ <version>1.0.0</version>
+ <description>User attention estimation (UNITN) . Auto-generated by Boxology 1.3.1.</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="todo@example.com">TODO</maintainer>
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>BSD</license>
+
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/NAME</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+ <!-- The *depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+ <!-- <depend>roscpp</depend> -->
+ <!-- Note that this is equivalent to the following: -->
+ <!-- <build_depend>roscpp</build_depend> -->
+ <!-- <exec_depend>roscpp</exec_depend> -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use build_export_depend for packages you need in order to build against this package: -->
+ <!-- <build_export_depend>message_generation</build_export_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use exec_depend for packages you need at runtime: -->
+ <!-- <exec_depend>message_runtime</exec_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <!-- Use doc_depend for packages you need only for building documentation: -->
+ <!-- <doc_depend>doxygen</doc_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <exec_depend>roscpp</exec_depend>
+ <depend>hri_msgs</depend>
+ <depend>std_msgs</depend>
+ <depend>tf</depend>
+
+ <export>
+
+ </export>
+</package>
diff --git a/spring-mock-ws/src/userattentionestimation/src/main.cpp b/spring-mock-ws/src/userattentionestimation/src/main.cpp
new file mode 100644
index 0000000..405c1eb
--- /dev/null
+++ b/spring-mock-ws/src/userattentionestimation/src/main.cpp
@@ -0,0 +1,74 @@
+/*
+ Copyright 2021-2025, SPRING Consortium
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
+
+
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "hri_msgs/RegionOfInterestStamped.h"
+#include "tf/transform_broadcaster.h"
+#include "std_msgs/Empty.h"
+
+class UserAttentionEstimation {
+ public:
+ UserAttentionEstimation(ros::NodeHandle* nh) {
+
+ face_roi_sub_ = nh->subscribe("face_roi", 1, &UserAttentionEstimation::face_roiCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ tffaces_sub_ = nh->subscribe("tffaces", 1, &UserAttentionEstimation::tffacesCallback, this);
+
+ // ATTENTION: this topic is not defined in the architecture design
+ xyattentionheatmap_pub_ = nh->advertise<std_msgs::Empty>("xyattentionheatmap", 1);
+ }
+
+ ~UserAttentionEstimation() {}
+
+ private:
+ void face_roiCallback(const hri_msgs::RegionOfInterestStamped::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("userattentionestimation: received message: " << msg);
+ }
+ void tffacesCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("userattentionestimation: received message: " << msg);
+ }
+
+ ros::Subscriber face_roi_sub_;
+ ros::Subscriber tffaces_sub_;
+
+ ros::Publisher xyattentionheatmap_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "userattentionestimation");
+
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+
+ auto userattentionestimation = UserAttentionEstimation(&private_node_handle_);
+
+ ROS_INFO("Node userattentionestimation launched and ready.");
+ ros::spin();
+ return 0;
+}
diff --git a/spring-mock-ws/src/uservisualfocus/CMakeLists.txt b/spring-mock-ws/src/uservisualfocus/CMakeLists.txt
new file mode 100644
index 0000000..87d932f
--- /dev/null
+++ b/spring-mock-ws/src/uservisualfocus/CMakeLists.txt
@@ -0,0 +1,203 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(uservisualfocus)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES uservisualfocus
+# CATKIN_DEPENDS roscpp
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include)
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/uservisualfocus.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(${PROJECT_NAME}_node src/main.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}_node
+ ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+install(TARGETS ${PROJECT_NAME}_node
+ RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_uservisualfocus.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/spring-mock-ws/src/uservisualfocus/package.xml b/spring-mock-ws/src/uservisualfocus/package.xml
new file mode 100644
index 0000000..38e9724
--- /dev/null
+++ b/spring-mock-ws/src/uservisualfocus/package.xml
@@ -0,0 +1,58 @@
+<?xml version="1.0"?>
+<package format="3">
+ <name>uservisualfocus</name>
+ <version>1.0.0</version>
+ <description>User visual focus (UNITN) . Auto-generated by Boxology 1.3.1.</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="todo@example.com">TODO</maintainer>
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>BSD</license>
+
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/NAME</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+ <!-- The *depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+ <!-- <depend>roscpp</depend> -->
+ <!-- Note that this is equivalent to the following: -->
+ <!-- <build_depend>roscpp</build_depend> -->
+ <!-- <exec_depend>roscpp</exec_depend> -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use build_export_depend for packages you need in order to build against this package: -->
+ <!-- <build_export_depend>message_generation</build_export_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use exec_depend for packages you need at runtime: -->
+ <!-- <exec_depend>message_runtime</exec_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <!-- Use doc_depend for packages you need only for building documentation: -->
+ <!-- <doc_depend>doxygen</doc_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <exec_depend>roscpp</exec_depend>
+ <depend>std_msgs</depend>
+
+ <export>
+
+ </export>
+</package>
diff --git a/spring-mock-ws/src/uservisualfocus/src/main.cpp b/spring-mock-ws/src/uservisualfocus/src/main.cpp
new file mode 100644
index 0000000..c92e2c3
--- /dev/null
+++ b/spring-mock-ws/src/uservisualfocus/src/main.cpp
@@ -0,0 +1,104 @@
+/*
+ Copyright 2021-2025, SPRING Consortium
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ SOFTWARE.
+*/
+
+
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "std_msgs/Empty.h"
+
+class UserVisualFocus {
+ public:
+ UserVisualFocus(ros::NodeHandle* nh) {
+
+ // ATTENTION: this topic is not defined in the architecture design
+ attention_sub_ = nh->subscribe("attention", 1, &UserVisualFocus::attentionCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ gazedirection_sub_ = nh->subscribe("gazedirection", 1, &UserVisualFocus::gazedirectionCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ input_sub_ = nh->subscribe("input", 1, &UserVisualFocus::inputCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ tffaces_sub_ = nh->subscribe("tffaces", 1, &UserVisualFocus::tffacesCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ tfpersons_sub_ = nh->subscribe("tfpersons", 1, &UserVisualFocus::tfpersonsCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ tfbodies_sub_ = nh->subscribe("tfbodies", 1, &UserVisualFocus::tfbodiesCallback, this);
+
+ // ATTENTION: this topic is not defined in the architecture design
+ whoslookingatwhohri_msgsgazesstamped_pub_ = nh->advertise<std_msgs::Empty>("whoslookingatwhohri_msgsgazesstamped", 1);
+ // ATTENTION: this topic is not defined in the architecture design
+ whoslookingatwhat_pub_ = nh->advertise<std_msgs::Empty>("whoslookingatwhat", 1);
+ }
+
+ ~UserVisualFocus() {}
+
+ private:
+ void attentionCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("uservisualfocus: received message: " << msg);
+ }
+ void gazedirectionCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("uservisualfocus: received message: " << msg);
+ }
+ void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("uservisualfocus: received message: " << msg);
+ }
+ void tffacesCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("uservisualfocus: received message: " << msg);
+ }
+ void tfpersonsCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("uservisualfocus: received message: " << msg);
+ }
+ void tfbodiesCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("uservisualfocus: received message: " << msg);
+ }
+
+ ros::Subscriber attention_sub_;
+ ros::Subscriber gazedirection_sub_;
+ ros::Subscriber input_sub_;
+ ros::Subscriber tffaces_sub_;
+ ros::Subscriber tfpersons_sub_;
+ ros::Subscriber tfbodies_sub_;
+
+ ros::Publisher whoslookingatwhohri_msgsgazesstamped_pub_;
+ ros::Publisher whoslookingatwhat_pub_;
+
+};
+
+int main(int argc, char** argv) {
+ ros::init(argc, argv, "uservisualfocus");
+
+ // Initialize node parameters from launch file or command line.
+ // Use a private node handle so that multiple instances of the node can be
+ // run simultaneously while using different parameters.
+ ros::NodeHandle private_node_handle_("~");
+
+ auto uservisualfocus = UserVisualFocus(&private_node_handle_);
+
+ ROS_INFO("Node uservisualfocus launched and ready.");
+ ros::spin();
+ return 0;
+}
--
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