From 8b06ac56b4a7a442a8233eb3b3b4c0976c406973 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?S=C3=A9verin=20Lemaignan?=
<severin.lemaignan@pal-robotics.com>
Date: Wed, 15 Dec 2021 15:44:54 +0100
Subject: [PATCH] [ros] regenerated mock-up ROS nodes
---
spring-mock-ws/src/asr/package.xml | 4 +-
spring-mock-ws/src/asr/src/main.cpp | 2 +-
spring-mock-ws/src/body2dpose/package.xml | 4 +-
.../src/dialoguearbiter/package.xml | 4 +-
spring-mock-ws/src/fformation/src/main.cpp | 2 +-
spring-mock-ws/src/hri_fullbody/src/main.cpp | 2 +-
.../src/interaction_manager/package.xml | 4 +-
.../src/interaction_manager/src/main.cpp | 14 +-
spring-mock-ws/src/maskdetection/src/main.cpp | 2 +-
.../src/multipeoplebodytracker/package.xml | 6 +-
.../src/nonverbalbehaviours/src/main.cpp | 10 +-
.../src/main.cpp | 2 +-
spring-mock-ws/src/orbslam/src/main.cpp | 2 +-
spring-mock-ws/src/personmanager/package.xml | 4 +-
spring-mock-ws/src/personmanager/src/main.cpp | 4 +-
.../src/personreidentification/src/main.cpp | 2 +-
spring-mock-ws/src/plan_actions/package.xml | 4 +-
spring-mock-ws/src/plan_actions/src/main.cpp | 14 +-
spring-mock-ws/src/robot_behavior/package.xml | 6 +-
.../src/robot_behavior/src/main.cpp | 14 +-
.../src/semanticmapping/src/main.cpp | 10 +-
.../src/soundsourcelocalisation/src/main.cpp | 6 +-
.../src/speakeridentification/package.xml | 5 +-
spring-mock-ws/src/speechanalysis/package.xml | 9 +-
.../src/speechanalysis/src/main.cpp | 12 +-
.../src/springarchitecture/CMakeLists.txt | 54 ++---
.../launch/start_all.launch | 210 +++++++++---------
.../launch/start_all_but_BIU.launch | 182 +++++++--------
.../launch/start_all_but_CVUT.launch | 184 +++++++--------
.../launch/start_all_but_ERM.launch | 204 ++++++++---------
.../launch/start_all_but_HWU.launch | 196 ++++++++--------
.../launch/start_all_but_INRIA.launch | 182 +++++++--------
.../launch/start_all_but_Other.launch | 210 +++++++++---------
.../launch/start_all_but_PAL.launch | 160 ++++++-------
.../launch/start_all_but_UNITN.launch | 148 ++++++------
.../src/springarchitecture/package.xml | 54 ++---
.../src/uservisualfocus/src/main.cpp | 14 +-
.../src/visualslam3dmap/src/main.cpp | 12 +-
.../src/voicespeechmatching/CMakeLists.txt | 1 -
.../src/voicespeechmatching/package.xml | 1 -
.../src/voicespeechmatching/src/main.cpp | 3 +-
41 files changed, 975 insertions(+), 988 deletions(-)
diff --git a/spring-mock-ws/src/asr/package.xml b/spring-mock-ws/src/asr/package.xml
index c8ae774..f9e396a 100644
--- a/spring-mock-ws/src/asr/package.xml
+++ b/spring-mock-ws/src/asr/package.xml
@@ -1,8 +1,8 @@
<?xml version="1.0"?>
<package format="3">
<name>asr</name>
- <version>0.0.1</version>
- <description>ASR (BIU) REPO [TBC]: https://gitlab.inria.fr/spring/wp5_spoken_conversations/asr. Auto-generated by Boxology 1.3.2.</description>
+ <version>1.0.0</version>
+ <description>ASR (BIU) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/asr/src/main.cpp b/spring-mock-ws/src/asr/src/main.cpp
index 7ffee03..a6f53b6 100644
--- a/spring-mock-ws/src/asr/src/main.cpp
+++ b/spring-mock-ws/src/asr/src/main.cpp
@@ -23,8 +23,8 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "audio_common_msgs/AudioData.h"
#include "std_msgs/Empty.h"
+#include "audio_common_msgs/AudioData.h"
class Asr {
public:
diff --git a/spring-mock-ws/src/body2dpose/package.xml b/spring-mock-ws/src/body2dpose/package.xml
index 9ca1813..20924c2 100644
--- a/spring-mock-ws/src/body2dpose/package.xml
+++ b/spring-mock-ws/src/body2dpose/package.xml
@@ -1,8 +1,8 @@
<?xml version="1.0"?>
<package format="3">
<name>body2dpose</name>
- <version>0.0.1</version>
- <description>Body 2D pose (UNITN) MOCK: Body 2D pose [openpose] is.... Auto-generated by Boxology 1.3.2.</description>
+ <version>1.0.0</version>
+ <description>Body 2D pose (UNITN) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/dialoguearbiter/package.xml b/spring-mock-ws/src/dialoguearbiter/package.xml
index 64d7305..90d3084 100644
--- a/spring-mock-ws/src/dialoguearbiter/package.xml
+++ b/spring-mock-ws/src/dialoguearbiter/package.xml
@@ -1,8 +1,8 @@
<?xml version="1.0"?>
<package format="3">
<name>dialoguearbiter</name>
- <version>spring_dev</version>
- <description>dialogue arbiter (HWU) REPO: https://gitlab.inria.fr/spring/wp5_spoken_conversations/dialogue/-/tree/spring-dev/dialogue_arbiter. Auto-generated by Boxology 1.3.2.</description>
+ <version>1.0.0</version>
+ <description>dialogue arbiter (HWU) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/fformation/src/main.cpp b/spring-mock-ws/src/fformation/src/main.cpp
index aa77cd6..daccaea 100644
--- a/spring-mock-ws/src/fformation/src/main.cpp
+++ b/spring-mock-ws/src/fformation/src/main.cpp
@@ -23,8 +23,8 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "hri_msgs/GazesStamped.h"
#include "tf/transform_listener.h"
+#include "hri_msgs/GazesStamped.h"
#include "hri_msgs/GroupsStamped.h"
class Fformation {
diff --git a/spring-mock-ws/src/hri_fullbody/src/main.cpp b/spring-mock-ws/src/hri_fullbody/src/main.cpp
index 62bcf51..49e3526 100644
--- a/spring-mock-ws/src/hri_fullbody/src/main.cpp
+++ b/spring-mock-ws/src/hri_fullbody/src/main.cpp
@@ -23,8 +23,8 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "hri_msgs/Skeleton2D.h"
#include "tf/transform_broadcaster.h"
+#include "hri_msgs/Skeleton2D.h"
#include "sensor_msgs/Image.h"
#include "hri_msgs/RegionOfInterestStamped.h"
diff --git a/spring-mock-ws/src/interaction_manager/package.xml b/spring-mock-ws/src/interaction_manager/package.xml
index ca13d51..e93aca9 100644
--- a/spring-mock-ws/src/interaction_manager/package.xml
+++ b/spring-mock-ws/src/interaction_manager/package.xml
@@ -1,8 +1,8 @@
<?xml version="1.0"?>
<package format="3">
<name>interaction_manager</name>
- <version>spring_dev</version>
- <description>interaction_manager (HWU) REPO: https://gitlab.inria.fr/spring/wp5_spoken_conversations/interaction/-/tree/spring_dev/interaction_manager. Auto-generated by Boxology 1.3.2.</description>
+ <version>1.0.0</version>
+ <description>interaction_manager (HWU) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/interaction_manager/src/main.cpp b/spring-mock-ws/src/interaction_manager/src/main.cpp
index 0f65517..cb00fab 100644
--- a/spring-mock-ws/src/interaction_manager/src/main.cpp
+++ b/spring-mock-ws/src/interaction_manager/src/main.cpp
@@ -29,8 +29,6 @@ class Interaction_manager {
public:
Interaction_manager(ros::NodeHandle* nh) {
- // ATTENTION: this topic is not defined in the architecture design
- hppersonid_sub_ = nh->subscribe("hppersonid", 1, &Interaction_manager::hppersonidCallback, this);
// ATTENTION: this topic is not defined in the architecture design
semanticscenedescription_sub_ = nh->subscribe("semanticscenedescription", 1, &Interaction_manager::semanticscenedescriptionCallback, this);
// ATTENTION: this topic is not defined in the architecture design
@@ -41,6 +39,8 @@ class Interaction_manager {
robotstate_sub_ = nh->subscribe("robotstate", 1, &Interaction_manager::robotstateCallback, this);
// ATTENTION: this topic is not defined in the architecture design
tf_sub_ = nh->subscribe("tf", 1, &Interaction_manager::tfCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ hppersonid_sub_ = nh->subscribe("hppersonid", 1, &Interaction_manager::hppersonidCallback, this);
// ATTENTION: this topic is not defined in the architecture design
gestures_pub_ = nh->advertise<std_msgs::Empty>("gestures", 1);
@@ -57,10 +57,6 @@ class Interaction_manager {
~Interaction_manager() {}
private:
- void hppersonidCallback(const std_msgs::Empty::ConstPtr& msg)
- {
- ROS_INFO_STREAM("interaction_manager: received message: " << msg);
- }
void semanticscenedescriptionCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("interaction_manager: received message: " << msg);
@@ -81,13 +77,17 @@ class Interaction_manager {
{
ROS_INFO_STREAM("interaction_manager: received message: " << msg);
}
+ void hppersonidCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("interaction_manager: received message: " << msg);
+ }
- ros::Subscriber hppersonid_sub_;
ros::Subscriber semanticscenedescription_sub_;
ros::Subscriber input_sub_;
ros::Subscriber dialoguestate_sub_;
ros::Subscriber robotstate_sub_;
ros::Subscriber tf_sub_;
+ ros::Subscriber hppersonid_sub_;
ros::Publisher gestures_pub_;
ros::Publisher whotolookat_pub_;
diff --git a/spring-mock-ws/src/maskdetection/src/main.cpp b/spring-mock-ws/src/maskdetection/src/main.cpp
index 54730ff..0e28d35 100644
--- a/spring-mock-ws/src/maskdetection/src/main.cpp
+++ b/spring-mock-ws/src/maskdetection/src/main.cpp
@@ -23,8 +23,8 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "hri_msgs/RegionOfInterestStamped.h"
#include "std_msgs/Bool.h"
+#include "hri_msgs/RegionOfInterestStamped.h"
class MaskDetection {
public:
diff --git a/spring-mock-ws/src/multipeoplebodytracker/package.xml b/spring-mock-ws/src/multipeoplebodytracker/package.xml
index 8a49f92..b1ecc3d 100644
--- a/spring-mock-ws/src/multipeoplebodytracker/package.xml
+++ b/spring-mock-ws/src/multipeoplebodytracker/package.xml
@@ -1,10 +1,8 @@
<?xml version="1.0"?>
<package format="3">
<name>multipeoplebodytracker</name>
- <version>devel</version>
- <description>Multi-people body tracker (INRIA) REPO (Docker): https://gitlab.inria.fr/spring/wp3_av_perception/docker-tracking
-
-This code is primarily developed at INRIA by Luis Gomez Camara.. Auto-generated by Boxology 1.3.2.</description>
+ <version>1.0.0</version>
+ <description>Multi-people body tracker (INRIA) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/nonverbalbehaviours/src/main.cpp b/spring-mock-ws/src/nonverbalbehaviours/src/main.cpp
index 879c79e..abab566 100644
--- a/spring-mock-ws/src/nonverbalbehaviours/src/main.cpp
+++ b/spring-mock-ws/src/nonverbalbehaviours/src/main.cpp
@@ -24,15 +24,15 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "hri_msgs/Expression.h"
-#include "hri_msgs/RegionOfInterestStamped.h"
#include "audio_common_msgs/AudioData.h"
+#include "hri_msgs/RegionOfInterestStamped.h"
class NonverbalBehaviours {
public:
NonverbalBehaviours(ros::NodeHandle* nh) {
- face_roi_sub_ = nh->subscribe("face_roi", 1, &NonverbalBehaviours::face_roiCallback, this);
voice_audio_sub_ = nh->subscribe("voice_audio", 1, &NonverbalBehaviours::voice_audioCallback, this);
+ face_roi_sub_ = nh->subscribe("face_roi", 1, &NonverbalBehaviours::face_roiCallback, this);
face_expression_pub_ = nh->advertise<hri_msgs::Expression>("face_expression", 1);
}
@@ -40,17 +40,17 @@ class NonverbalBehaviours {
~NonverbalBehaviours() {}
private:
- void face_roiCallback(const hri_msgs::RegionOfInterestStamped::ConstPtr& msg)
+ void voice_audioCallback(const audio_common_msgs::AudioData::ConstPtr& msg)
{
ROS_INFO_STREAM("nonverbalbehaviours: received message: " << msg);
}
- void voice_audioCallback(const audio_common_msgs::AudioData::ConstPtr& msg)
+ void face_roiCallback(const hri_msgs::RegionOfInterestStamped::ConstPtr& msg)
{
ROS_INFO_STREAM("nonverbalbehaviours: received message: " << msg);
}
- ros::Subscriber face_roi_sub_;
ros::Subscriber voice_audio_sub_;
+ ros::Subscriber face_roi_sub_;
ros::Publisher face_expression_pub_;
diff --git a/spring-mock-ws/src/objectdetectionidentificationlocalisation/src/main.cpp b/spring-mock-ws/src/objectdetectionidentificationlocalisation/src/main.cpp
index f48bff1..dfcb497 100644
--- a/spring-mock-ws/src/objectdetectionidentificationlocalisation/src/main.cpp
+++ b/spring-mock-ws/src/objectdetectionidentificationlocalisation/src/main.cpp
@@ -23,8 +23,8 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "spring_msgs/DetectedObjectArray.h"
#include "sensor_msgs/Image.h"
+#include "spring_msgs/DetectedObjectArray.h"
class ObjectDetectionidentificationlocalisation {
public:
diff --git a/spring-mock-ws/src/orbslam/src/main.cpp b/spring-mock-ws/src/orbslam/src/main.cpp
index 480430e..cd6437f 100644
--- a/spring-mock-ws/src/orbslam/src/main.cpp
+++ b/spring-mock-ws/src/orbslam/src/main.cpp
@@ -23,9 +23,9 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
+#include "sensor_msgs/Image.h"
#include "tf/transform_broadcaster.h"
#include "nav_msgs/OccupancyGrid.h"
-#include "sensor_msgs/Image.h"
class OrbSlam {
public:
diff --git a/spring-mock-ws/src/personmanager/package.xml b/spring-mock-ws/src/personmanager/package.xml
index fc0112a..7a2d7e2 100644
--- a/spring-mock-ws/src/personmanager/package.xml
+++ b/spring-mock-ws/src/personmanager/package.xml
@@ -1,8 +1,8 @@
<?xml version="1.0"?>
<package format="3">
<name>personmanager</name>
- <version>0.0.1</version>
- <description>Person manager (INRIA) PAL to write an initial temporary version, simply forwarding detected faces as persons.. Auto-generated by Boxology 1.3.2.</description>
+ <version>1.0.0</version>
+ <description>Person manager (INRIA) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/personmanager/src/main.cpp b/spring-mock-ws/src/personmanager/src/main.cpp
index c663687..4fc6456 100644
--- a/spring-mock-ws/src/personmanager/src/main.cpp
+++ b/spring-mock-ws/src/personmanager/src/main.cpp
@@ -40,10 +40,10 @@ class PersonManager {
candidate_matchshri_msgsidsmatch_sub_ = nh->subscribe("candidate_matchshri_msgsidsmatch", 1, &PersonManager::candidate_matchshri_msgsidsmatchCallback, this);
face_demographics_sub_ = nh->subscribe("face_demographics", 1, &PersonManager::face_demographicsCallback, this);
+ body_id_pub_ = nh->advertise<std_msgs::String>("body_id", 1);
person_face_id_pub_ = nh->advertise<std_msgs::String>("person_face_id", 1);
person_voice_id_pub_ = nh->advertise<std_msgs::String>("person_voice_id", 1);
person_demographics_pub_ = nh->advertise<hri_msgs::AgeAndGender>("person_demographics", 1);
- body_id_pub_ = nh->advertise<std_msgs::String>("body_id", 1);
}
~PersonManager() {}
@@ -71,10 +71,10 @@ class PersonManager {
ros::Subscriber candidate_matchshri_msgsidsmatch_sub_;
ros::Subscriber face_demographics_sub_;
+ ros::Publisher body_id_pub_;
ros::Publisher person_face_id_pub_;
ros::Publisher person_voice_id_pub_;
ros::Publisher person_demographics_pub_;
- ros::Publisher body_id_pub_;
};
diff --git a/spring-mock-ws/src/personreidentification/src/main.cpp b/spring-mock-ws/src/personreidentification/src/main.cpp
index bad8058..df23823 100644
--- a/spring-mock-ws/src/personreidentification/src/main.cpp
+++ b/spring-mock-ws/src/personreidentification/src/main.cpp
@@ -23,8 +23,8 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "std_msgs/Empty.h"
#include "hri_msgs/RegionOfInterestStamped.h"
+#include "std_msgs/Empty.h"
class PersonReidentification {
public:
diff --git a/spring-mock-ws/src/plan_actions/package.xml b/spring-mock-ws/src/plan_actions/package.xml
index 3ec7ae7..9479684 100644
--- a/spring-mock-ws/src/plan_actions/package.xml
+++ b/spring-mock-ws/src/plan_actions/package.xml
@@ -1,8 +1,8 @@
<?xml version="1.0"?>
<package format="3">
<name>plan_actions</name>
- <version>spring_dev</version>
- <description>plan_actions (HWU) REPO: https://gitlab.inria.fr/spring/wp5_spoken_conversations/plan_actions. Auto-generated by Boxology 1.3.2.</description>
+ <version>1.0.0</version>
+ <description>plan_actions (HWU) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/plan_actions/src/main.cpp b/spring-mock-ws/src/plan_actions/src/main.cpp
index 42021e4..28222ba 100644
--- a/spring-mock-ws/src/plan_actions/src/main.cpp
+++ b/spring-mock-ws/src/plan_actions/src/main.cpp
@@ -29,14 +29,14 @@ class Plan_actions {
public:
Plan_actions(ros::NodeHandle* nh) {
- // ATTENTION: this topic is not defined in the architecture design
- dialoguestate_sub_ = nh->subscribe("dialoguestate", 1, &Plan_actions::dialoguestateCallback, this);
// ATTENTION: this topic is not defined in the architecture design
tfpersons_sub_ = nh->subscribe("tfpersons", 1, &Plan_actions::tfpersonsCallback, this);
// ATTENTION: this topic is not defined in the architecture design
semanticscenedescription_sub_ = nh->subscribe("semanticscenedescription", 1, &Plan_actions::semanticscenedescriptionCallback, this);
// ATTENTION: this topic is not defined in the architecture design
demographics_sub_ = nh->subscribe("demographics", 1, &Plan_actions::demographicsCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ dialoguestate_sub_ = nh->subscribe("dialoguestate", 1, &Plan_actions::dialoguestateCallback, this);
// ATTENTION: this topic is not defined in the architecture design
interactionstate_pub_ = nh->advertise<std_msgs::Empty>("interactionstate", 1);
@@ -49,10 +49,6 @@ class Plan_actions {
~Plan_actions() {}
private:
- void dialoguestateCallback(const std_msgs::Empty::ConstPtr& msg)
- {
- ROS_INFO_STREAM("plan_actions: received message: " << msg);
- }
void tfpersonsCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("plan_actions: received message: " << msg);
@@ -65,11 +61,15 @@ class Plan_actions {
{
ROS_INFO_STREAM("plan_actions: received message: " << msg);
}
+ void dialoguestateCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("plan_actions: received message: " << msg);
+ }
- ros::Subscriber dialoguestate_sub_;
ros::Subscriber tfpersons_sub_;
ros::Subscriber semanticscenedescription_sub_;
ros::Subscriber demographics_sub_;
+ ros::Subscriber dialoguestate_sub_;
ros::Publisher interactionstate_pub_;
ros::Publisher output_pub_;
diff --git a/spring-mock-ws/src/robot_behavior/package.xml b/spring-mock-ws/src/robot_behavior/package.xml
index bed077d..f487303 100644
--- a/spring-mock-ws/src/robot_behavior/package.xml
+++ b/spring-mock-ws/src/robot_behavior/package.xml
@@ -1,10 +1,8 @@
<?xml version="1.0"?>
<package format="3">
<name>robot_behavior</name>
- <version>devel</version>
- <description>robot_behavior (INRIA) REPO: https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior/-/tree/devel/src/robot_behavior
-
-The code is primarily developed at INRIA by Timothée Wintz.. Auto-generated by Boxology 1.3.2.</description>
+ <version>1.0.0</version>
+ <description>robot_behavior (INRIA) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/robot_behavior/src/main.cpp b/spring-mock-ws/src/robot_behavior/src/main.cpp
index bb000e2..5105172 100644
--- a/spring-mock-ws/src/robot_behavior/src/main.cpp
+++ b/spring-mock-ws/src/robot_behavior/src/main.cpp
@@ -30,14 +30,14 @@ class Robot_behavior {
public:
Robot_behavior(ros::NodeHandle* nh) {
- // ATTENTION: this topic is not defined in the architecture design
- status_sub_ = nh->subscribe("status", 1, &Robot_behavior::statusCallback, this);
// ATTENTION: this topic is not defined in the architecture design
lookat_sub_ = nh->subscribe("lookat", 1, &Robot_behavior::lookatCallback, this);
// ATTENTION: this topic is not defined in the architecture design
followingnavgoals_sub_ = nh->subscribe("followingnavgoals", 1, &Robot_behavior::followingnavgoalsCallback, this);
// ATTENTION: this topic is not defined in the architecture design
occupancymap_sub_ = nh->subscribe("occupancymap", 1, &Robot_behavior::occupancymapCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ status_sub_ = nh->subscribe("status", 1, &Robot_behavior::statusCallback, this);
groups_sub_ = nh->subscribe("groups", 1, &Robot_behavior::groupsCallback, this);
// ATTENTION: this topic is not defined in the architecture design
@@ -49,10 +49,6 @@ class Robot_behavior {
~Robot_behavior() {}
private:
- void statusCallback(const std_msgs::Empty::ConstPtr& msg)
- {
- ROS_INFO_STREAM("robot_behavior: received message: " << msg);
- }
void lookatCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("robot_behavior: received message: " << msg);
@@ -65,15 +61,19 @@ class Robot_behavior {
{
ROS_INFO_STREAM("robot_behavior: received message: " << msg);
}
+ void statusCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("robot_behavior: received message: " << msg);
+ }
void groupsCallback(const hri_msgs::GroupsStamped::ConstPtr& msg)
{
ROS_INFO_STREAM("robot_behavior: received message: " << msg);
}
- ros::Subscriber status_sub_;
ros::Subscriber lookat_sub_;
ros::Subscriber followingnavgoals_sub_;
ros::Subscriber occupancymap_sub_;
+ ros::Subscriber status_sub_;
ros::Subscriber groups_sub_;
ros::Publisher status_pub_;
diff --git a/spring-mock-ws/src/semanticmapping/src/main.cpp b/spring-mock-ws/src/semanticmapping/src/main.cpp
index 089ca34..a5b2cbb 100644
--- a/spring-mock-ws/src/semanticmapping/src/main.cpp
+++ b/spring-mock-ws/src/semanticmapping/src/main.cpp
@@ -23,16 +23,16 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "spring_msgs/DetectedObjectArray.h"
#include "std_msgs/Empty.h"
+#include "spring_msgs/DetectedObjectArray.h"
class SemanticMapping {
public:
SemanticMapping(ros::NodeHandle* nh) {
- detected_objects_sub_ = nh->subscribe("detected_objects", 1, &SemanticMapping::detected_objectsCallback, this);
// ATTENTION: this topic is not defined in the architecture design
dense3dmap_sub_ = nh->subscribe("dense3dmap", 1, &SemanticMapping::dense3dmapCallback, this);
+ detected_objects_sub_ = nh->subscribe("detected_objects", 1, &SemanticMapping::detected_objectsCallback, this);
// ATTENTION: this topic is not defined in the architecture design
scenegraph_pub_ = nh->advertise<std_msgs::Empty>("scenegraph", 1);
@@ -41,17 +41,17 @@ class SemanticMapping {
~SemanticMapping() {}
private:
- void detected_objectsCallback(const spring_msgs::DetectedObjectArray::ConstPtr& msg)
+ void dense3dmapCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("semanticmapping: received message: " << msg);
}
- void dense3dmapCallback(const std_msgs::Empty::ConstPtr& msg)
+ void detected_objectsCallback(const spring_msgs::DetectedObjectArray::ConstPtr& msg)
{
ROS_INFO_STREAM("semanticmapping: received message: " << msg);
}
- ros::Subscriber detected_objects_sub_;
ros::Subscriber dense3dmap_sub_;
+ ros::Subscriber detected_objects_sub_;
ros::Publisher scenegraph_pub_;
diff --git a/spring-mock-ws/src/soundsourcelocalisation/src/main.cpp b/spring-mock-ws/src/soundsourcelocalisation/src/main.cpp
index 247c0fa..9f9bd27 100644
--- a/spring-mock-ws/src/soundsourcelocalisation/src/main.cpp
+++ b/spring-mock-ws/src/soundsourcelocalisation/src/main.cpp
@@ -33,12 +33,12 @@ class SoundSourceLocalisation {
voice_audio_sub_ = nh->subscribe("voice_audio", 1, &SoundSourceLocalisation::voice_audioCallback, this);
- // ATTENTION: this topic is not defined in the architecture design
- output_pub_ = nh->advertise<std_msgs::Empty>("output", 1);
// ATTENTION: this topic is not defined in the architecture design
sourceangle_pub_ = nh->advertise<std_msgs::Empty>("sourceangle", 1);
// ATTENTION: this topic is not defined in the architecture design
trackinginformation_pub_ = nh->advertise<std_msgs::Empty>("trackinginformation", 1);
+ // ATTENTION: this topic is not defined in the architecture design
+ output_pub_ = nh->advertise<std_msgs::Empty>("output", 1);
}
~SoundSourceLocalisation() {}
@@ -51,9 +51,9 @@ class SoundSourceLocalisation {
ros::Subscriber voice_audio_sub_;
- ros::Publisher output_pub_;
ros::Publisher sourceangle_pub_;
ros::Publisher trackinginformation_pub_;
+ ros::Publisher output_pub_;
};
diff --git a/spring-mock-ws/src/speakeridentification/package.xml b/spring-mock-ws/src/speakeridentification/package.xml
index 2443a2d..58f972f 100644
--- a/spring-mock-ws/src/speakeridentification/package.xml
+++ b/spring-mock-ws/src/speakeridentification/package.xml
@@ -1,9 +1,8 @@
<?xml version="1.0"?>
<package format="3">
<name>speakeridentification</name>
- <version>0.0.1</version>
- <description>Speaker identification (BIU) - online services
-- not started yet. Auto-generated by Boxology 1.3.2.</description>
+ <version>1.0.0</version>
+ <description>Speaker identification (BIU) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/speechanalysis/package.xml b/spring-mock-ws/src/speechanalysis/package.xml
index 1d2357b..87f4dd9 100644
--- a/spring-mock-ws/src/speechanalysis/package.xml
+++ b/spring-mock-ws/src/speechanalysis/package.xml
@@ -1,13 +1,8 @@
<?xml version="1.0"?>
<package format="3">
<name>speechanalysis</name>
- <version>0.0.1</version>
- <description>Speech analysis (BIU) This node does:
-- speech echo cancelation,
-- speech enhancement,
-- speech separation and diarization
-
-REPO: https://gitlab.inria.fr/spring/wp3_av_perception/biu-ros_audio_retreiver. Auto-generated by Boxology 1.3.2.</description>
+ <version>1.0.0</version>
+ <description>Speech analysis (BIU) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/speechanalysis/src/main.cpp b/spring-mock-ws/src/speechanalysis/src/main.cpp
index 99ae2e5..2761654 100644
--- a/spring-mock-ws/src/speechanalysis/src/main.cpp
+++ b/spring-mock-ws/src/speechanalysis/src/main.cpp
@@ -31,10 +31,10 @@ class SpeechAnalysis {
public:
SpeechAnalysis(ros::NodeHandle* nh) {
- raw_audio_sub_ = nh->subscribe("raw_audio", 1, &SpeechAnalysis::raw_audioCallback, this);
- ego_audio_sub_ = nh->subscribe("ego_audio", 1, &SpeechAnalysis::ego_audioCallback, this);
// ATTENTION: this topic is not defined in the architecture design
soundlocalization_sub_ = nh->subscribe("soundlocalization", 1, &SpeechAnalysis::soundlocalizationCallback, this);
+ raw_audio_sub_ = nh->subscribe("raw_audio", 1, &SpeechAnalysis::raw_audioCallback, this);
+ ego_audio_sub_ = nh->subscribe("ego_audio", 1, &SpeechAnalysis::ego_audioCallback, this);
// ATTENTION: this topic is not defined in the architecture design
audiopostprocess_audio_streamscfoutputinnodedesc_pub_ = nh->advertise<std_msgs::Empty>("audiopostprocess_audio_streamscfoutputinnodedesc", 1);
@@ -43,22 +43,22 @@ class SpeechAnalysis {
~SpeechAnalysis() {}
private:
- void raw_audioCallback(const respeaker_ros::RawAudioData::ConstPtr& msg)
+ void soundlocalizationCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("speechanalysis: received message: " << msg);
}
- void ego_audioCallback(const audio_common_msgs::AudioData::ConstPtr& msg)
+ void raw_audioCallback(const respeaker_ros::RawAudioData::ConstPtr& msg)
{
ROS_INFO_STREAM("speechanalysis: received message: " << msg);
}
- void soundlocalizationCallback(const std_msgs::Empty::ConstPtr& msg)
+ void ego_audioCallback(const audio_common_msgs::AudioData::ConstPtr& msg)
{
ROS_INFO_STREAM("speechanalysis: received message: " << msg);
}
+ ros::Subscriber soundlocalization_sub_;
ros::Subscriber raw_audio_sub_;
ros::Subscriber ego_audio_sub_;
- ros::Subscriber soundlocalization_sub_;
ros::Publisher audiopostprocess_audio_streamscfoutputinnodedesc_pub_;
diff --git a/spring-mock-ws/src/springarchitecture/CMakeLists.txt b/spring-mock-ws/src/springarchitecture/CMakeLists.txt
index 4857669..147a433 100644
--- a/spring-mock-ws/src/springarchitecture/CMakeLists.txt
+++ b/spring-mock-ws/src/springarchitecture/CMakeLists.txt
@@ -3,46 +3,46 @@ project(springarchitecture)
find_package(catkin REQUIRED COMPONENTS
- robot_behavior
- soundsourcelocalisation
- robotfunctionallayer
+ asr
voicespeechmatching
- softbiometrics
+ robot_behavior
userattentionestimation
- hri_msgs
- speechsynthesis
- rosopenpose
- robotgui
- interaction_manager
- objectdetectionidentificationlocalisation
+ rgbdcamera_info
+ activityreco
+ body2dpose
+ maskdetection
+ semanticmapping
depthestimationfrommonocular
sceneunderstanding
- occupancymap
- dialoguearbiter
+ rosopenpose
+ hri_fullbody
+ objectdetectionidentificationlocalisation
+ fisheye
+ fformation
+ nonverbalbehaviours
+ uservisualfocus
people3dtracker
speakeridentification
+ personmanager
personreidentification
orbslam
- hri_fullbody
- rgbhead
+ speechanalysis
multipeoplebodytracker
- rgbdcamera_info
- activityreco
+ respeaker_ros
facedetection
spring_msgs
- maskdetection
plan_actions
- personmanager
- nonverbalbehaviours
- uservisualfocus
- speechanalysis
+ rgbhead
visualslam3dmap
- semanticmapping
- fisheye
- fformation
- respeaker_ros
- asr
- body2dpose
+ robotfunctionallayer
+ interaction_manager
+ hri_msgs
+ speechsynthesis
+ soundsourcelocalisation
+ occupancymap
+ dialoguearbiter
+ robotgui
+ softbiometrics
)
catkin_package()
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all.launch b/spring-mock-ws/src/springarchitecture/launch/start_all.launch
index 2012890..1135e6e 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all.launch
@@ -1,17 +1,8 @@
<launch>
- <!-- launching robot_behavior (robot_behavior) -->
- <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
- <remap from="groups" to="/humans/interactions/groups"/>
- </node>
-
- <!-- launching Sound source localisation (soundsourcelocalisation) -->
- <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
- </node>
-
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
+ <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
</node>
<!-- launching Voice speech matching (voicespeechmatching) -->
@@ -21,10 +12,9 @@
<remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Soft biometrics (softbiometrics) -->
- <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+ <!-- launching robot_behavior (robot_behavior) -->
+ <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
+ <remap from="groups" to="/humans/interactions/groups"/>
</node>
<!-- launching User attention estimation (userattentionestimation) -->
@@ -32,26 +22,30 @@
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+ <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
</node>
- <!-- launching interaction_manager (interaction_manager) -->
- <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
</node>
- <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
- <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
<remap from="detected_objects" to="/detected_objects"/>
</node>
@@ -63,14 +57,45 @@
<node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="map_refined" to="/map_refined"/>
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching dialogue arbiter (dialoguearbiter) -->
- <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+ <!-- launching hri_fullbody (hri_fullbody) -->
+ <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ </node>
+
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="detected_objects" to="/detected_objects"/>
+ </node>
+
+ <!-- launching Fisheye (fisheye) -->
+ <node pkg="fisheye" name="fisheye" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ </node>
+
+ <!-- launching F-formation (fformation) -->
+ <node pkg="fformation" name="fformation" type="node" output="screen">
+ <remap from="gaze" to="/humans/interactions/gaze"/>
+ <remap from="groups" to="/humans/interactions/groups"/>
+ </node>
+
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
+ </node>
+
+ <!-- launching User visual focus (uservisualfocus) -->
+ <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+ <remap from="gaze" to="/humans/interactions/gaze"/>
</node>
<!-- launching People 3D tracker (people3dtracker) -->
@@ -83,6 +108,15 @@
<remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
+ <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+ <remap from="body_id" to="/humans/persons/*/body_id"/>
+ <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
+ <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
+ <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+ </node>
+
<!-- launching Person re-identification (personreidentification) -->
<node pkg="personreidentification" name="personreidentification" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
@@ -94,17 +128,10 @@
<remap from="map" to="/map"/>
</node>
- <!-- launching hri_fullbody (hri_fullbody) -->
- <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
- <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- </node>
-
- <!-- launching RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching Speech analysis (speechanalysis) -->
+ <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
<!-- launching Multi-people body tracker (multipeoplebodytracker) -->
@@ -113,13 +140,10 @@
<remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
- <remap from="image_raw" to="/camera_torso/color/image_raw"/>
- </node>
-
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
<!-- launching Face detection (facedetection) -->
@@ -128,81 +152,57 @@
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
- </node>
-
<!-- launching plan_actions (plan_actions) -->
<node pkg="plan_actions" name="plan_actions" type="node" output="screen">
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
- <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
- <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
- <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
- <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
- <remap from="body_id" to="/humans/persons/*/body_id"/>
- </node>
-
- <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
- <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
+ <!-- launching RGB head (rgbhead) -->
+ <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
- <remap from="gaze" to="/humans/interactions/gaze"/>
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+ <remap from="image_head" to="/camera_head/color/image_head"/>
</node>
- <!-- launching Speech analysis (speechanalysis) -->
- <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
- <remap from="ego_audio" to="/audio/ego_audio"/>
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
- <remap from="image_head" to="/camera_head/color/image_head"/>
- <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+ <!-- launching interaction_manager (interaction_manager) -->
+ <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
- <remap from="detected_objects" to="/detected_objects"/>
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching Fisheye (fisheye) -->
- <node pkg="fisheye" name="fisheye" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching Sound source localisation (soundsourcelocalisation) -->
+ <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="gaze" to="/humans/interactions/gaze"/>
- <remap from="groups" to="/humans/interactions/groups"/>
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <remap from="map_refined" to="/map_refined"/>
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
- <remap from="ego_audio" to="/audio/ego_audio"/>
+ <!-- launching dialogue arbiter (dialoguearbiter) -->
+ <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
- <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Body 2D pose (body2dpose) -->
- <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
- <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ <!-- launching Soft biometrics (softbiometrics) -->
+ <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_BIU.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_BIU.launch
index 3de0362..1c7e83a 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_BIU.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_BIU.launch
@@ -6,36 +6,56 @@
<remap from="groups" to="/humans/interactions/groups"/>
</node>
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+ <!-- launching User attention estimation (userattentionestimation) -->
+ <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Soft biometrics (softbiometrics) -->
- <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+ <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+ <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
</node>
- <!-- launching User attention estimation (userattentionestimation) -->
- <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ </node>
+
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ </node>
+
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <remap from="detected_objects" to="/detected_objects"/>
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+ <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching interaction_manager (interaction_manager) -->
- <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ </node>
+
+ <!-- launching hri_fullbody (hri_fullbody) -->
+ <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
<!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
@@ -44,28 +64,42 @@
<remap from="detected_objects" to="/detected_objects"/>
</node>
- <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+ <!-- launching Fisheye (fisheye) -->
+ <node pkg="fisheye" name="fisheye" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+ <!-- launching F-formation (fformation) -->
+ <node pkg="fformation" name="fformation" type="node" output="screen">
+ <remap from="gaze" to="/humans/interactions/gaze"/>
+ <remap from="groups" to="/humans/interactions/groups"/>
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="map_refined" to="/map_refined"/>
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
</node>
- <!-- launching dialogue arbiter (dialoguearbiter) -->
- <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+ <!-- launching User visual focus (uservisualfocus) -->
+ <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+ <remap from="gaze" to="/humans/interactions/gaze"/>
</node>
<!-- launching People 3D tracker (people3dtracker) -->
<node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
+ <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+ <remap from="body_id" to="/humans/persons/*/body_id"/>
+ <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
+ <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
+ <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+ </node>
+
<!-- launching Person re-identification (personreidentification) -->
<node pkg="personreidentification" name="personreidentification" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
@@ -77,32 +111,16 @@
<remap from="map" to="/map"/>
</node>
- <!-- launching hri_fullbody (hri_fullbody) -->
- <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
- <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- </node>
-
- <!-- launching RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
- </node>
-
<!-- launching Multi-people body tracker (multipeoplebodytracker) -->
<node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
<remap from="image_raw" to="/camera_head/color/image_raw"/>
<remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
- <remap from="image_raw" to="/camera_torso/color/image_raw"/>
- </node>
-
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
<!-- launching Face detection (facedetection) -->
@@ -111,70 +129,52 @@
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
- </node>
-
<!-- launching plan_actions (plan_actions) -->
<node pkg="plan_actions" name="plan_actions" type="node" output="screen">
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
- <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
- <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
- <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
- <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
- <remap from="body_id" to="/humans/persons/*/body_id"/>
+ <!-- launching RGB head (rgbhead) -->
+ <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
- <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+ <remap from="image_head" to="/camera_head/color/image_head"/>
</node>
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
- <remap from="gaze" to="/humans/interactions/gaze"/>
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
- <remap from="image_head" to="/camera_head/color/image_head"/>
- <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+ <!-- launching interaction_manager (interaction_manager) -->
+ <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
- <remap from="detected_objects" to="/detected_objects"/>
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching Fisheye (fisheye) -->
- <node pkg="fisheye" name="fisheye" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <remap from="map_refined" to="/map_refined"/>
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="gaze" to="/humans/interactions/gaze"/>
- <remap from="groups" to="/humans/interactions/groups"/>
+ <!-- launching dialogue arbiter (dialoguearbiter) -->
+ <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
- <remap from="ego_audio" to="/audio/ego_audio"/>
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Body 2D pose (body2dpose) -->
- <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
- <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ <!-- launching Soft biometrics (softbiometrics) -->
+ <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_CVUT.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_CVUT.launch
index 80cbff0..36e6547 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_CVUT.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_CVUT.launch
@@ -1,18 +1,9 @@
<launch>
<!-- this launch file starts all SPRING nodes except for CVUT nodes. -->
- <!-- launching robot_behavior (robot_behavior) -->
- <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
- <remap from="groups" to="/humans/interactions/groups"/>
- </node>
-
- <!-- launching Sound source localisation (soundsourcelocalisation) -->
- <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
- </node>
-
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
+ <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
</node>
<!-- launching Voice speech matching (voicespeechmatching) -->
@@ -22,10 +13,9 @@
<remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Soft biometrics (softbiometrics) -->
- <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+ <!-- launching robot_behavior (robot_behavior) -->
+ <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
+ <remap from="groups" to="/humans/interactions/groups"/>
</node>
<!-- launching User attention estimation (userattentionestimation) -->
@@ -33,21 +23,26 @@
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+ <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
</node>
- <!-- launching interaction_manager (interaction_manager) -->
- <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
</node>
<!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
@@ -58,9 +53,39 @@
<node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching dialogue arbiter (dialoguearbiter) -->
- <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ </node>
+
+ <!-- launching hri_fullbody (hri_fullbody) -->
+ <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ </node>
+
+ <!-- launching Fisheye (fisheye) -->
+ <node pkg="fisheye" name="fisheye" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ </node>
+
+ <!-- launching F-formation (fformation) -->
+ <node pkg="fformation" name="fformation" type="node" output="screen">
+ <remap from="gaze" to="/humans/interactions/gaze"/>
+ <remap from="groups" to="/humans/interactions/groups"/>
+ </node>
+
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
+ </node>
+
+ <!-- launching User visual focus (uservisualfocus) -->
+ <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+ <remap from="gaze" to="/humans/interactions/gaze"/>
</node>
<!-- launching People 3D tracker (people3dtracker) -->
@@ -73,6 +98,15 @@
<remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
+ <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+ <remap from="body_id" to="/humans/persons/*/body_id"/>
+ <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
+ <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
+ <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+ </node>
+
<!-- launching Person re-identification (personreidentification) -->
<node pkg="personreidentification" name="personreidentification" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
@@ -84,17 +118,10 @@
<remap from="map" to="/map"/>
</node>
- <!-- launching hri_fullbody (hri_fullbody) -->
- <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
- <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- </node>
-
- <!-- launching RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching Speech analysis (speechanalysis) -->
+ <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
<!-- launching Multi-people body tracker (multipeoplebodytracker) -->
@@ -103,13 +130,10 @@
<remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
- <remap from="image_raw" to="/camera_torso/color/image_raw"/>
- </node>
-
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
<!-- launching Face detection (facedetection) -->
@@ -118,70 +142,46 @@
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
- </node>
-
<!-- launching plan_actions (plan_actions) -->
<node pkg="plan_actions" name="plan_actions" type="node" output="screen">
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
- <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
- <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
- <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
- <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
- <remap from="body_id" to="/humans/persons/*/body_id"/>
- </node>
-
- <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
- <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
+ <!-- launching RGB head (rgbhead) -->
+ <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
- <remap from="gaze" to="/humans/interactions/gaze"/>
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching Speech analysis (speechanalysis) -->
- <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
- <remap from="ego_audio" to="/audio/ego_audio"/>
+ <!-- launching interaction_manager (interaction_manager) -->
+ <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
</node>
- <!-- launching Fisheye (fisheye) -->
- <node pkg="fisheye" name="fisheye" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="gaze" to="/humans/interactions/gaze"/>
- <remap from="groups" to="/humans/interactions/groups"/>
+ <!-- launching Sound source localisation (soundsourcelocalisation) -->
+ <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
- <remap from="ego_audio" to="/audio/ego_audio"/>
+ <!-- launching dialogue arbiter (dialoguearbiter) -->
+ <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
- <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Body 2D pose (body2dpose) -->
- <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
- <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ <!-- launching Soft biometrics (softbiometrics) -->
+ <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_ERM.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_ERM.launch
index 7c29a56..c08c8f9 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_ERM.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_ERM.launch
@@ -1,18 +1,9 @@
<launch>
<!-- this launch file starts all SPRING nodes except for ERM nodes. -->
- <!-- launching robot_behavior (robot_behavior) -->
- <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
- <remap from="groups" to="/humans/interactions/groups"/>
- </node>
-
- <!-- launching Sound source localisation (soundsourcelocalisation) -->
- <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
- </node>
-
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
+ <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
</node>
<!-- launching Voice speech matching (voicespeechmatching) -->
@@ -22,10 +13,9 @@
<remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Soft biometrics (softbiometrics) -->
- <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+ <!-- launching robot_behavior (robot_behavior) -->
+ <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
+ <remap from="groups" to="/humans/interactions/groups"/>
</node>
<!-- launching User attention estimation (userattentionestimation) -->
@@ -33,16 +23,51 @@
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+ <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+ </node>
+
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ </node>
+
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ </node>
+
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
+ </node>
+
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <remap from="detected_objects" to="/detected_objects"/>
+ </node>
+
+ <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+ <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+ </node>
+
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
<!-- launching ROS openpose (rosopenpose) -->
<node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching interaction_manager (interaction_manager) -->
- <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
+ <!-- launching hri_fullbody (hri_fullbody) -->
+ <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
<!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
@@ -51,22 +76,27 @@
<remap from="detected_objects" to="/detected_objects"/>
</node>
- <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+ <!-- launching Fisheye (fisheye) -->
+ <node pkg="fisheye" name="fisheye" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+ <!-- launching F-formation (fformation) -->
+ <node pkg="fformation" name="fformation" type="node" output="screen">
+ <remap from="gaze" to="/humans/interactions/gaze"/>
+ <remap from="groups" to="/humans/interactions/groups"/>
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="map_refined" to="/map_refined"/>
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
</node>
- <!-- launching dialogue arbiter (dialoguearbiter) -->
- <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+ <!-- launching User visual focus (uservisualfocus) -->
+ <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+ <remap from="gaze" to="/humans/interactions/gaze"/>
</node>
<!-- launching People 3D tracker (people3dtracker) -->
@@ -79,6 +109,15 @@
<remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
+ <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+ <remap from="body_id" to="/humans/persons/*/body_id"/>
+ <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
+ <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
+ <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+ </node>
+
<!-- launching Person re-identification (personreidentification) -->
<node pkg="personreidentification" name="personreidentification" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
@@ -90,17 +129,10 @@
<remap from="map" to="/map"/>
</node>
- <!-- launching hri_fullbody (hri_fullbody) -->
- <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
- <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- </node>
-
- <!-- launching RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching Speech analysis (speechanalysis) -->
+ <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
<!-- launching Multi-people body tracker (multipeoplebodytracker) -->
@@ -109,13 +141,10 @@
<remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
- <remap from="image_raw" to="/camera_torso/color/image_raw"/>
- </node>
-
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
<!-- launching Face detection (facedetection) -->
@@ -124,81 +153,52 @@
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
- </node>
-
<!-- launching plan_actions (plan_actions) -->
<node pkg="plan_actions" name="plan_actions" type="node" output="screen">
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
- <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
- <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
- <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
- <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
- <remap from="body_id" to="/humans/persons/*/body_id"/>
- </node>
-
- <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
- <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
- </node>
-
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
- <remap from="gaze" to="/humans/interactions/gaze"/>
- </node>
-
- <!-- launching Speech analysis (speechanalysis) -->
- <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
- <remap from="ego_audio" to="/audio/ego_audio"/>
+ <!-- launching RGB head (rgbhead) -->
+ <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
<!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
<node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
- <remap from="image_head" to="/camera_head/color/image_head"/>
<remap from="image_torso" to="/camera_torso/color/image_torso"/>
+ <remap from="image_head" to="/camera_head/color/image_head"/>
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
- <remap from="detected_objects" to="/detected_objects"/>
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching Fisheye (fisheye) -->
- <node pkg="fisheye" name="fisheye" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching interaction_manager (interaction_manager) -->
+ <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="gaze" to="/humans/interactions/gaze"/>
- <remap from="groups" to="/humans/interactions/groups"/>
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
- <remap from="ego_audio" to="/audio/ego_audio"/>
+ <!-- launching Sound source localisation (soundsourcelocalisation) -->
+ <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
- <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <remap from="map_refined" to="/map_refined"/>
</node>
- <!-- launching Body 2D pose (body2dpose) -->
- <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
- <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ <!-- launching dialogue arbiter (dialoguearbiter) -->
+ <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+ </node>
+
+ <!-- launching Soft biometrics (softbiometrics) -->
+ <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_HWU.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_HWU.launch
index 5cfdcc6..3659bcb 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_HWU.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_HWU.launch
@@ -1,18 +1,9 @@
<launch>
<!-- this launch file starts all SPRING nodes except for HWU nodes. -->
- <!-- launching robot_behavior (robot_behavior) -->
- <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
- <remap from="groups" to="/humans/interactions/groups"/>
- </node>
-
- <!-- launching Sound source localisation (soundsourcelocalisation) -->
- <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
- </node>
-
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
+ <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
</node>
<!-- launching Voice speech matching (voicespeechmatching) -->
@@ -22,10 +13,9 @@
<remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Soft biometrics (softbiometrics) -->
- <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+ <!-- launching robot_behavior (robot_behavior) -->
+ <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
+ <remap from="groups" to="/humans/interactions/groups"/>
</node>
<!-- launching User attention estimation (userattentionestimation) -->
@@ -33,17 +23,47 @@
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+ <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+ </node>
+
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ </node>
+
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ </node>
+
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
+ </node>
+
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <remap from="detected_objects" to="/detected_objects"/>
+ </node>
+
+ <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+ <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
</node>
<!-- launching ROS openpose (rosopenpose) -->
<node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+ <!-- launching hri_fullbody (hri_fullbody) -->
+ <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
<!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
@@ -52,13 +72,27 @@
<remap from="detected_objects" to="/detected_objects"/>
</node>
- <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+ <!-- launching Fisheye (fisheye) -->
+ <node pkg="fisheye" name="fisheye" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="map_refined" to="/map_refined"/>
+ <!-- launching F-formation (fformation) -->
+ <node pkg="fformation" name="fformation" type="node" output="screen">
+ <remap from="gaze" to="/humans/interactions/gaze"/>
+ <remap from="groups" to="/humans/interactions/groups"/>
+ </node>
+
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
+ </node>
+
+ <!-- launching User visual focus (uservisualfocus) -->
+ <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+ <remap from="gaze" to="/humans/interactions/gaze"/>
</node>
<!-- launching People 3D tracker (people3dtracker) -->
@@ -71,6 +105,15 @@
<remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
+ <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+ <remap from="body_id" to="/humans/persons/*/body_id"/>
+ <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
+ <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
+ <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+ </node>
+
<!-- launching Person re-identification (personreidentification) -->
<node pkg="personreidentification" name="personreidentification" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
@@ -82,17 +125,10 @@
<remap from="map" to="/map"/>
</node>
- <!-- launching hri_fullbody (hri_fullbody) -->
- <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
- <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- </node>
-
- <!-- launching RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching Speech analysis (speechanalysis) -->
+ <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
<!-- launching Multi-people body tracker (multipeoplebodytracker) -->
@@ -101,13 +137,10 @@
<remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
- <remap from="image_raw" to="/camera_torso/color/image_raw"/>
- </node>
-
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
<!-- launching Face detection (facedetection) -->
@@ -116,77 +149,44 @@
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
- </node>
-
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
- <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
- <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
- <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
- <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
- <remap from="body_id" to="/humans/persons/*/body_id"/>
- </node>
-
- <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
- <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
- </node>
-
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
- <remap from="gaze" to="/humans/interactions/gaze"/>
- </node>
-
- <!-- launching Speech analysis (speechanalysis) -->
- <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
- <remap from="ego_audio" to="/audio/ego_audio"/>
+ <!-- launching RGB head (rgbhead) -->
+ <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
<!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
<node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
- <remap from="image_head" to="/camera_head/color/image_head"/>
<remap from="image_torso" to="/camera_torso/color/image_torso"/>
+ <remap from="image_head" to="/camera_head/color/image_head"/>
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
- <remap from="detected_objects" to="/detected_objects"/>
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching Fisheye (fisheye) -->
- <node pkg="fisheye" name="fisheye" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="gaze" to="/humans/interactions/gaze"/>
- <remap from="groups" to="/humans/interactions/groups"/>
+ <!-- launching Sound source localisation (soundsourcelocalisation) -->
+ <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
- <remap from="ego_audio" to="/audio/ego_audio"/>
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <remap from="map_refined" to="/map_refined"/>
</node>
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
- <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Body 2D pose (body2dpose) -->
- <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
- <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ <!-- launching Soft biometrics (softbiometrics) -->
+ <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_INRIA.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_INRIA.launch
index 3e653b3..7574893 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_INRIA.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_INRIA.launch
@@ -1,13 +1,9 @@
<launch>
<!-- this launch file starts all SPRING nodes except for INRIA nodes. -->
- <!-- launching Sound source localisation (soundsourcelocalisation) -->
- <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
- </node>
-
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
+ <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
</node>
<!-- launching Voice speech matching (voicespeechmatching) -->
@@ -17,33 +13,35 @@
<remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Soft biometrics (softbiometrics) -->
- <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
- </node>
-
<!-- launching User attention estimation (userattentionestimation) -->
<node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+ <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching interaction_manager (interaction_manager) -->
- <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
</node>
- <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
- <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
+ </node>
+
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
<remap from="detected_objects" to="/detected_objects"/>
</node>
@@ -55,14 +53,41 @@
<node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="map_refined" to="/map_refined"/>
+ <!-- launching hri_fullbody (hri_fullbody) -->
+ <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching dialogue arbiter (dialoguearbiter) -->
- <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="detected_objects" to="/detected_objects"/>
+ </node>
+
+ <!-- launching Fisheye (fisheye) -->
+ <node pkg="fisheye" name="fisheye" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ </node>
+
+ <!-- launching F-formation (fformation) -->
+ <node pkg="fformation" name="fformation" type="node" output="screen">
+ <remap from="gaze" to="/humans/interactions/gaze"/>
+ <remap from="groups" to="/humans/interactions/groups"/>
+ </node>
+
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
+ </node>
+
+ <!-- launching User visual focus (uservisualfocus) -->
+ <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+ <remap from="gaze" to="/humans/interactions/gaze"/>
</node>
<!-- launching Speaker identification (speakeridentification) -->
@@ -82,26 +107,16 @@
<remap from="map" to="/map"/>
</node>
- <!-- launching hri_fullbody (hri_fullbody) -->
- <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
- <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- </node>
-
- <!-- launching RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
- </node>
-
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
- <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+ <!-- launching Speech analysis (speechanalysis) -->
+ <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
<!-- launching Face detection (facedetection) -->
@@ -110,72 +125,57 @@
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
- </node>
-
<!-- launching plan_actions (plan_actions) -->
<node pkg="plan_actions" name="plan_actions" type="node" output="screen">
</node>
- <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
- <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
+ <!-- launching RGB head (rgbhead) -->
+ <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
- <remap from="gaze" to="/humans/interactions/gaze"/>
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+ <remap from="image_head" to="/camera_head/color/image_head"/>
</node>
- <!-- launching Speech analysis (speechanalysis) -->
- <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
- <remap from="ego_audio" to="/audio/ego_audio"/>
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
- <remap from="image_head" to="/camera_head/color/image_head"/>
- <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+ <!-- launching interaction_manager (interaction_manager) -->
+ <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
- <remap from="detected_objects" to="/detected_objects"/>
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching Fisheye (fisheye) -->
- <node pkg="fisheye" name="fisheye" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching Sound source localisation (soundsourcelocalisation) -->
+ <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="gaze" to="/humans/interactions/gaze"/>
- <remap from="groups" to="/humans/interactions/groups"/>
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <remap from="map_refined" to="/map_refined"/>
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
- <remap from="ego_audio" to="/audio/ego_audio"/>
+ <!-- launching dialogue arbiter (dialoguearbiter) -->
+ <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
- <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Body 2D pose (body2dpose) -->
- <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
- <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ <!-- launching Soft biometrics (softbiometrics) -->
+ <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_Other.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_Other.launch
index e761a51..a6f87e6 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_Other.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_Other.launch
@@ -1,18 +1,9 @@
<launch>
<!-- this launch file starts all SPRING nodes except for Other nodes. -->
- <!-- launching robot_behavior (robot_behavior) -->
- <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
- <remap from="groups" to="/humans/interactions/groups"/>
- </node>
-
- <!-- launching Sound source localisation (soundsourcelocalisation) -->
- <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
- </node>
-
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
+ <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
</node>
<!-- launching Voice speech matching (voicespeechmatching) -->
@@ -22,10 +13,9 @@
<remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Soft biometrics (softbiometrics) -->
- <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+ <!-- launching robot_behavior (robot_behavior) -->
+ <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
+ <remap from="groups" to="/humans/interactions/groups"/>
</node>
<!-- launching User attention estimation (userattentionestimation) -->
@@ -33,26 +23,30 @@
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+ <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
</node>
- <!-- launching interaction_manager (interaction_manager) -->
- <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
</node>
- <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
- <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
<remap from="detected_objects" to="/detected_objects"/>
</node>
@@ -64,14 +58,45 @@
<node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="map_refined" to="/map_refined"/>
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching dialogue arbiter (dialoguearbiter) -->
- <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+ <!-- launching hri_fullbody (hri_fullbody) -->
+ <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ </node>
+
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="detected_objects" to="/detected_objects"/>
+ </node>
+
+ <!-- launching Fisheye (fisheye) -->
+ <node pkg="fisheye" name="fisheye" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ </node>
+
+ <!-- launching F-formation (fformation) -->
+ <node pkg="fformation" name="fformation" type="node" output="screen">
+ <remap from="gaze" to="/humans/interactions/gaze"/>
+ <remap from="groups" to="/humans/interactions/groups"/>
+ </node>
+
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
+ </node>
+
+ <!-- launching User visual focus (uservisualfocus) -->
+ <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+ <remap from="gaze" to="/humans/interactions/gaze"/>
</node>
<!-- launching People 3D tracker (people3dtracker) -->
@@ -84,6 +109,15 @@
<remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
+ <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+ <remap from="body_id" to="/humans/persons/*/body_id"/>
+ <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
+ <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
+ <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+ </node>
+
<!-- launching Person re-identification (personreidentification) -->
<node pkg="personreidentification" name="personreidentification" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
@@ -95,17 +129,10 @@
<remap from="map" to="/map"/>
</node>
- <!-- launching hri_fullbody (hri_fullbody) -->
- <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
- <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- </node>
-
- <!-- launching RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching Speech analysis (speechanalysis) -->
+ <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
<!-- launching Multi-people body tracker (multipeoplebodytracker) -->
@@ -114,13 +141,10 @@
<remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
- <remap from="image_raw" to="/camera_torso/color/image_raw"/>
- </node>
-
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
<!-- launching Face detection (facedetection) -->
@@ -129,81 +153,57 @@
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
- </node>
-
<!-- launching plan_actions (plan_actions) -->
<node pkg="plan_actions" name="plan_actions" type="node" output="screen">
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
- <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
- <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
- <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
- <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
- <remap from="body_id" to="/humans/persons/*/body_id"/>
- </node>
-
- <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
- <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
+ <!-- launching RGB head (rgbhead) -->
+ <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
- <remap from="gaze" to="/humans/interactions/gaze"/>
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+ <remap from="image_head" to="/camera_head/color/image_head"/>
</node>
- <!-- launching Speech analysis (speechanalysis) -->
- <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
- <remap from="ego_audio" to="/audio/ego_audio"/>
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
- <remap from="image_head" to="/camera_head/color/image_head"/>
- <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+ <!-- launching interaction_manager (interaction_manager) -->
+ <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
- <remap from="detected_objects" to="/detected_objects"/>
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching Fisheye (fisheye) -->
- <node pkg="fisheye" name="fisheye" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching Sound source localisation (soundsourcelocalisation) -->
+ <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="gaze" to="/humans/interactions/gaze"/>
- <remap from="groups" to="/humans/interactions/groups"/>
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <remap from="map_refined" to="/map_refined"/>
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
- <remap from="ego_audio" to="/audio/ego_audio"/>
+ <!-- launching dialogue arbiter (dialoguearbiter) -->
+ <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
- <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Body 2D pose (body2dpose) -->
- <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
- <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ <!-- launching Soft biometrics (softbiometrics) -->
+ <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_PAL.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_PAL.launch
index 62b0e72..1107a8f 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_PAL.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_PAL.launch
@@ -1,14 +1,9 @@
<launch>
<!-- this launch file starts all SPRING nodes except for PAL nodes. -->
- <!-- launching robot_behavior (robot_behavior) -->
- <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
- <remap from="groups" to="/humans/interactions/groups"/>
- </node>
-
- <!-- launching Sound source localisation (soundsourcelocalisation) -->
- <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
+ <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
</node>
<!-- launching Voice speech matching (voicespeechmatching) -->
@@ -18,10 +13,9 @@
<remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Soft biometrics (softbiometrics) -->
- <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+ <!-- launching robot_behavior (robot_behavior) -->
+ <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
+ <remap from="groups" to="/humans/interactions/groups"/>
</node>
<!-- launching User attention estimation (userattentionestimation) -->
@@ -29,22 +23,25 @@
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
</node>
- <!-- launching interaction_manager (interaction_manager) -->
- <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
</node>
- <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
- <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
<remap from="detected_objects" to="/detected_objects"/>
</node>
@@ -56,14 +53,32 @@
<node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="map_refined" to="/map_refined"/>
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching dialogue arbiter (dialoguearbiter) -->
- <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="detected_objects" to="/detected_objects"/>
+ </node>
+
+ <!-- launching F-formation (fformation) -->
+ <node pkg="fformation" name="fformation" type="node" output="screen">
+ <remap from="gaze" to="/humans/interactions/gaze"/>
+ <remap from="groups" to="/humans/interactions/groups"/>
+ </node>
+
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
+ </node>
+
+ <!-- launching User visual focus (uservisualfocus) -->
+ <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+ <remap from="gaze" to="/humans/interactions/gaze"/>
</node>
<!-- launching People 3D tracker (people3dtracker) -->
@@ -76,91 +91,76 @@
<remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
+ <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+ <remap from="body_id" to="/humans/persons/*/body_id"/>
+ <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
+ <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
+ <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+ </node>
+
<!-- launching Person re-identification (personreidentification) -->
<node pkg="personreidentification" name="personreidentification" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
+ <!-- launching Speech analysis (speechanalysis) -->
+ <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
+ </node>
+
<!-- launching Multi-people body tracker (multipeoplebodytracker) -->
<node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
<remap from="image_raw" to="/camera_head/color/image_raw"/>
<remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
</node>
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
- </node>
-
<!-- launching Face detection (facedetection) -->
<node pkg="facedetection" name="facedetection" type="node" output="screen">
<remap from="image_raw" to="/camera_head/color/image_raw"/>
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
- </node>
-
<!-- launching plan_actions (plan_actions) -->
<node pkg="plan_actions" name="plan_actions" type="node" output="screen">
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
- <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
- <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
- <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
- <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
- <remap from="body_id" to="/humans/persons/*/body_id"/>
- </node>
-
- <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
- <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
- </node>
-
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
- <remap from="gaze" to="/humans/interactions/gaze"/>
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+ <remap from="image_head" to="/camera_head/color/image_head"/>
</node>
- <!-- launching Speech analysis (speechanalysis) -->
- <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
- <remap from="ego_audio" to="/audio/ego_audio"/>
+ <!-- launching interaction_manager (interaction_manager) -->
+ <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
- <remap from="image_head" to="/camera_head/color/image_head"/>
- <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+ <!-- launching Sound source localisation (soundsourcelocalisation) -->
+ <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
- <remap from="detected_objects" to="/detected_objects"/>
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <remap from="map_refined" to="/map_refined"/>
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="gaze" to="/humans/interactions/gaze"/>
- <remap from="groups" to="/humans/interactions/groups"/>
+ <!-- launching dialogue arbiter (dialoguearbiter) -->
+ <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
- <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Body 2D pose (body2dpose) -->
- <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
- <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ <!-- launching Soft biometrics (softbiometrics) -->
+ <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_UNITN.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_UNITN.launch
index 445c46a..80c477a 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_UNITN.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_UNITN.launch
@@ -1,18 +1,9 @@
<launch>
<!-- this launch file starts all SPRING nodes except for UNITN nodes. -->
- <!-- launching robot_behavior (robot_behavior) -->
- <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
- <remap from="groups" to="/humans/interactions/groups"/>
- </node>
-
- <!-- launching Sound source localisation (soundsourcelocalisation) -->
- <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
- </node>
-
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
+ <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
</node>
<!-- launching Voice speech matching (voicespeechmatching) -->
@@ -22,41 +13,46 @@
<remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- launching robot_behavior (robot_behavior) -->
+ <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
+ <remap from="groups" to="/humans/interactions/groups"/>
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
+ <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <remap from="detected_objects" to="/detected_objects"/>
</node>
- <!-- launching interaction_manager (interaction_manager) -->
- <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
- <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="detected_objects" to="/detected_objects"/>
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+ <!-- launching hri_fullbody (hri_fullbody) -->
+ <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="map_refined" to="/map_refined"/>
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="detected_objects" to="/detected_objects"/>
</node>
- <!-- launching dialogue arbiter (dialoguearbiter) -->
- <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+ <!-- launching Fisheye (fisheye) -->
+ <node pkg="fisheye" name="fisheye" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
<!-- launching People 3D tracker (people3dtracker) -->
@@ -69,23 +65,25 @@
<remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
+ <!-- launching Person manager (personmanager) -->
+ <node pkg="personmanager" name="personmanager" type="node" output="screen">
+ <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
+ <remap from="body_id" to="/humans/persons/*/body_id"/>
+ <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
+ <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
+ <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+ </node>
+
<!-- launching ORB SLAM (orbslam) -->
<node pkg="orbslam" name="orbslam" type="node" output="screen">
<remap from="image_raw" to="/camera_torso/color/image_raw"/>
<remap from="map" to="/map"/>
</node>
- <!-- launching hri_fullbody (hri_fullbody) -->
- <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
- <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- </node>
-
- <!-- launching RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching Speech analysis (speechanalysis) -->
+ <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
<!-- launching Multi-people body tracker (multipeoplebodytracker) -->
@@ -94,55 +92,57 @@
<remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
- <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
<!-- launching plan_actions (plan_actions) -->
<node pkg="plan_actions" name="plan_actions" type="node" output="screen">
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
- <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
- <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
- <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
- <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
- <remap from="body_id" to="/humans/persons/*/body_id"/>
- </node>
-
- <!-- launching Speech analysis (speechanalysis) -->
- <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
- <remap from="ego_audio" to="/audio/ego_audio"/>
+ <!-- launching RGB head (rgbhead) -->
+ <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
<!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
<node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
- <remap from="image_head" to="/camera_head/color/image_head"/>
<remap from="image_torso" to="/camera_torso/color/image_torso"/>
+ <remap from="image_head" to="/camera_head/color/image_head"/>
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
- <remap from="detected_objects" to="/detected_objects"/>
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching Fisheye (fisheye) -->
- <node pkg="fisheye" name="fisheye" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching interaction_manager (interaction_manager) -->
+ <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
- <remap from="ego_audio" to="/audio/ego_audio"/>
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
- <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+ <!-- launching Sound source localisation (soundsourcelocalisation) -->
+ <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ </node>
+
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <remap from="map_refined" to="/map_refined"/>
+ </node>
+
+ <!-- launching dialogue arbiter (dialoguearbiter) -->
+ <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+ </node>
+
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
diff --git a/spring-mock-ws/src/springarchitecture/package.xml b/spring-mock-ws/src/springarchitecture/package.xml
index d0d8490..76bd2e5 100644
--- a/spring-mock-ws/src/springarchitecture/package.xml
+++ b/spring-mock-ws/src/springarchitecture/package.xml
@@ -9,46 +9,46 @@
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
- <depend>robot_behavior</depend>
- <depend>soundsourcelocalisation</depend>
- <depend>robotfunctionallayer</depend>
+ <depend>asr</depend>
<depend>voicespeechmatching</depend>
- <depend>softbiometrics</depend>
+ <depend>robot_behavior</depend>
<depend>userattentionestimation</depend>
- <depend>hri_msgs</depend>
- <depend>speechsynthesis</depend>
- <depend>rosopenpose</depend>
- <depend>robotgui</depend>
- <depend>interaction_manager</depend>
- <depend>objectdetectionidentificationlocalisation</depend>
+ <depend>rgbdcamera_info</depend>
+ <depend>activityreco</depend>
+ <depend>body2dpose</depend>
+ <depend>maskdetection</depend>
+ <depend>semanticmapping</depend>
<depend>depthestimationfrommonocular</depend>
<depend>sceneunderstanding</depend>
- <depend>occupancymap</depend>
- <depend>dialoguearbiter</depend>
+ <depend>rosopenpose</depend>
+ <depend>hri_fullbody</depend>
+ <depend>objectdetectionidentificationlocalisation</depend>
+ <depend>fisheye</depend>
+ <depend>fformation</depend>
+ <depend>nonverbalbehaviours</depend>
+ <depend>uservisualfocus</depend>
<depend>people3dtracker</depend>
<depend>speakeridentification</depend>
+ <depend>personmanager</depend>
<depend>personreidentification</depend>
<depend>orbslam</depend>
- <depend>hri_fullbody</depend>
- <depend>rgbhead</depend>
+ <depend>speechanalysis</depend>
<depend>multipeoplebodytracker</depend>
- <depend>rgbdcamera_info</depend>
- <depend>activityreco</depend>
+ <depend>respeaker_ros</depend>
<depend>facedetection</depend>
<depend>spring_msgs</depend>
- <depend>maskdetection</depend>
<depend>plan_actions</depend>
- <depend>personmanager</depend>
- <depend>nonverbalbehaviours</depend>
- <depend>uservisualfocus</depend>
- <depend>speechanalysis</depend>
+ <depend>rgbhead</depend>
<depend>visualslam3dmap</depend>
- <depend>semanticmapping</depend>
- <depend>fisheye</depend>
- <depend>fformation</depend>
- <depend>respeaker_ros</depend>
- <depend>asr</depend>
- <depend>body2dpose</depend>
+ <depend>robotfunctionallayer</depend>
+ <depend>interaction_manager</depend>
+ <depend>hri_msgs</depend>
+ <depend>speechsynthesis</depend>
+ <depend>soundsourcelocalisation</depend>
+ <depend>occupancymap</depend>
+ <depend>dialoguearbiter</depend>
+ <depend>robotgui</depend>
+ <depend>softbiometrics</depend>
<export>
diff --git a/spring-mock-ws/src/uservisualfocus/src/main.cpp b/spring-mock-ws/src/uservisualfocus/src/main.cpp
index 34d4c79..9ff959a 100644
--- a/spring-mock-ws/src/uservisualfocus/src/main.cpp
+++ b/spring-mock-ws/src/uservisualfocus/src/main.cpp
@@ -30,14 +30,14 @@ class UserVisualFocus {
public:
UserVisualFocus(ros::NodeHandle* nh) {
- // 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
attention_sub_ = nh->subscribe("attention", 1, &UserVisualFocus::attentionCallback, this);
// ATTENTION: this topic is not defined in the architecture design
depth_sub_ = nh->subscribe("depth", 1, &UserVisualFocus::depthCallback, this);
// ATTENTION: this topic is not defined in the architecture design
scene_sub_ = nh->subscribe("scene", 1, &UserVisualFocus::sceneCallback, 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
whoslookingatwhat_pub_ = nh->advertise<std_msgs::Empty>("whoslookingatwhat", 1);
@@ -47,10 +47,6 @@ class UserVisualFocus {
~UserVisualFocus() {}
private:
- void gazedirectionCallback(const std_msgs::Empty::ConstPtr& msg)
- {
- ROS_INFO_STREAM("uservisualfocus: received message: " << msg);
- }
void attentionCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("uservisualfocus: received message: " << msg);
@@ -63,11 +59,15 @@ class UserVisualFocus {
{
ROS_INFO_STREAM("uservisualfocus: received message: " << msg);
}
+ void gazedirectionCallback(const std_msgs::Empty::ConstPtr& msg)
+ {
+ ROS_INFO_STREAM("uservisualfocus: received message: " << msg);
+ }
- ros::Subscriber gazedirection_sub_;
ros::Subscriber attention_sub_;
ros::Subscriber depth_sub_;
ros::Subscriber scene_sub_;
+ ros::Subscriber gazedirection_sub_;
ros::Publisher whoslookingatwhat_pub_;
ros::Publisher gaze_pub_;
diff --git a/spring-mock-ws/src/visualslam3dmap/src/main.cpp b/spring-mock-ws/src/visualslam3dmap/src/main.cpp
index 1a13915..6f5fc7f 100644
--- a/spring-mock-ws/src/visualslam3dmap/src/main.cpp
+++ b/spring-mock-ws/src/visualslam3dmap/src/main.cpp
@@ -23,18 +23,18 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
+#include "sensor_msgs/Image.h"
#include "std_msgs/Empty.h"
#include "tf/transform_broadcaster.h"
-#include "sensor_msgs/Image.h"
class VisualSlam3dMap {
public:
VisualSlam3dMap(ros::NodeHandle* nh) {
- image_head_sub_ = nh->subscribe("image_head", 1, &VisualSlam3dMap::image_headCallback, this);
image_torso_sub_ = nh->subscribe("image_torso", 1, &VisualSlam3dMap::image_torsoCallback, this);
// ATTENTION: this topic is not defined in the architecture design
localisationprior_sub_ = nh->subscribe("localisationprior", 1, &VisualSlam3dMap::localisationpriorCallback, this);
+ image_head_sub_ = nh->subscribe("image_head", 1, &VisualSlam3dMap::image_headCallback, this);
// ATTENTION: this topic is not defined in the architecture design
dense3dmap_pub_ = nh->advertise<std_msgs::Empty>("dense3dmap", 1);
@@ -43,22 +43,22 @@ class VisualSlam3dMap {
~VisualSlam3dMap() {}
private:
- void image_headCallback(const sensor_msgs::Image::ConstPtr& msg)
+ void image_torsoCallback(const sensor_msgs::Image::ConstPtr& msg)
{
ROS_INFO_STREAM("visualslam3dmap: received message: " << msg);
}
- void image_torsoCallback(const sensor_msgs::Image::ConstPtr& msg)
+ void localisationpriorCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("visualslam3dmap: received message: " << msg);
}
- void localisationpriorCallback(const std_msgs::Empty::ConstPtr& msg)
+ void image_headCallback(const sensor_msgs::Image::ConstPtr& msg)
{
ROS_INFO_STREAM("visualslam3dmap: received message: " << msg);
}
- ros::Subscriber image_head_sub_;
ros::Subscriber image_torso_sub_;
ros::Subscriber localisationprior_sub_;
+ ros::Subscriber image_head_sub_;
ros::Publisher dense3dmap_pub_;
diff --git a/spring-mock-ws/src/voicespeechmatching/CMakeLists.txt b/spring-mock-ws/src/voicespeechmatching/CMakeLists.txt
index c4834e4..955bad3 100644
--- a/spring-mock-ws/src/voicespeechmatching/CMakeLists.txt
+++ b/spring-mock-ws/src/voicespeechmatching/CMakeLists.txt
@@ -9,7 +9,6 @@ add_compile_options(-std=c++11)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
- array of std_msgs
audio_common_msgs
std_msgs
)
diff --git a/spring-mock-ws/src/voicespeechmatching/package.xml b/spring-mock-ws/src/voicespeechmatching/package.xml
index 8d6d296..5673ba8 100644
--- a/spring-mock-ws/src/voicespeechmatching/package.xml
+++ b/spring-mock-ws/src/voicespeechmatching/package.xml
@@ -50,7 +50,6 @@
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roscpp</exec_depend>
- <depend>array of std_msgs</depend>
<depend>audio_common_msgs</depend>
<depend>std_msgs</depend>
diff --git a/spring-mock-ws/src/voicespeechmatching/src/main.cpp b/spring-mock-ws/src/voicespeechmatching/src/main.cpp
index 27bdbf8..acdcf36 100644
--- a/spring-mock-ws/src/voicespeechmatching/src/main.cpp
+++ b/spring-mock-ws/src/voicespeechmatching/src/main.cpp
@@ -25,7 +25,6 @@
#include "std_msgs/String.h"
#include "std_msgs/String.h"
#include "audio_common_msgs/AudioData.h"
-#include "array of std_msgs/String.h"
class VoiceSpeechMatching {
public:
@@ -44,7 +43,7 @@ class VoiceSpeechMatching {
{
ROS_INFO_STREAM("voicespeechmatching: received message: " << msg);
}
- void speech_streamsCallback(const array of std_msgs::String::ConstPtr& msg)
+ void speech_streamsCallback(const std_msgs::String::ConstPtr& msg)
{
ROS_INFO_STREAM("voicespeechmatching: received message: " << msg);
}
--
GitLab