diff --git a/architecture.json b/architecture.json
index fdd593d5e45a73c3215cf87674321dcbcd81411a..1aff99fc75aa14113a94941caf8f86910a3427d9 100644
--- a/architecture.json
+++ b/architecture.json
@@ -1,65 +1,29 @@
{
"architectures" : [
{
- "description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git\nSUBFOLDER:dialogue_arbiter",
- "name" : "dialogue arbiter",
- "uuid" : "e2ee44b3-4f04-4a27-a947-525fae05035d",
- "version" : "spring_dev"
- },
- {
- "description" : "REPO: git@gitlab:ros4hri/hri_msgs.git\nNOT EXECUTABLE",
- "name" : "DEPENDENCY: hri_msgs",
- "uuid" : "7590c224-e846-4f1c-9ecb-0a2992568089",
- "version" : "0.1.1"
- },
- {
- "description" : "REPO:git@gitlab.inria.fr:spring/wp7_ari/hri_person_manager.git",
- "name" : "hri_person_manager",
- "uuid" : "1f5e18f3-1be0-4e21-a3e1-439a597fe002",
+ "description" : "Detects age/gender\nREPO:git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git\nSUBFOLDER:wp4_people_characteristics\nBIN:soft_biometrics_estimator.py",
+ "name" : "Soft biometrics",
+ "uuid" : "970d1105-d292-4308-b90f-8d8005a781eb",
"version" : "master"
},
{
- "description" : "The code is primarily developed at INRIA by Timothée Wintz.\nREPO: https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior\nSUBFOLDER:src/robot_behavior",
- "name" : "robot_behavior",
- "uuid" : "d5ec9783-4c4f-4652-a8bd-b786a1905f48",
- "version" : "devel"
- },
- {
- "description" : "REPO:git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git\nSUBFOLDER:ros_openpose",
- "name" : "MOCK: Body 2D pose [openpose]",
- "uuid" : "e496dc05-fbf4-467f-95cf-d8548eefe677",
+ "description" : "Purpose: \nProvide a local cost map from the global map ",
+ "name" : "republish_from_rtab_map_node",
+ "uuid" : "c9b5ae43-4701-4f00-859a-c92a265fe63e",
"version" : "0.0.1"
},
{
- "description" : "Detects presence of a facial mask\nREPO:git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git\nSUBFOLDER:wp4_people_characteristics\nBIN:mask_detector.py",
- "name" : "Mask detection",
- "uuid" : "b343b3de-f4eb-412c-ae93-fca0f090ee5d",
- "version" : "master"
- },
- {
- "description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git\nSUBFOLDER:interaction_manager_msgs\nNOT EXECUTABLE",
- "name" : "DEPENDENCY: interaction_manager_msgs",
- "uuid" : "269a1164-ad2d-488c-9b86-b4256faddf9f",
- "version" : "spring_dev"
- },
- {
- "description" : "This node does:\n- speech echo cancelation,\n- speech enhancement,\n- speech separation and diarization\nREPO:https://gitlab.inria.fr/spring/wp3_av_perception/speech-enhancement\nSUBFOLDER:audio_processing ",
- "name" : "audio_processing",
- "uuid" : "703291ee-d2c9-4f3c-a94c-fb6030dd783e",
- "version" : "BIU_dev"
+ "description" : "MOCK: People 3D tracker [position/orientation] is...",
+ "name" : "MOCK: People 3D tracker [position/orientation]",
+ "uuid" : "6b0cec9a-b148-4d1d-b038-2986a289b7e6",
+ "version" : "0.0.1"
},
{
- "description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git\nSUBFOLDER:interaction_manager",
- "name" : "Interaction manager",
- "uuid" : "b87a23ac-d223-4bac-b438-0b16e6e55270",
+ "description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git\nSUBFOLDER:social_scene_context_understanding",
+ "name" : "social_scene_context_understanding",
+ "uuid" : "05421051-4c03-42de-8bbb-0d0965e14f68",
"version" : "spring_dev"
},
- {
- "description" : "MOCK: Person re-identification is...",
- "name" : "MOCK: Person re-identification",
- "uuid" : "23174a34-ee12-4bca-87e1-39dcf254756c",
- "version" : "0.0.1"
- },
{
"description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git\nSUBFOLDER:robot_behaviour_msgs\nNOT EXECUTABLE",
"name" : "DEPENDENCY: robot_behaviour_msgs",
@@ -67,28 +31,28 @@
"version" : "spring_dev"
},
{
- "description" : "REPO:https://gitlab.inria.fr/spring/wp5_spoken_conversations/asr\nSUBFOLDER:google_asr/google_asr",
- "name" : "google_asr",
- "uuid" : "11d2ee50-fd1e-4664-be3b-1a250ec7d758",
- "version" : "BIU_dev"
+ "description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/asr.git\nSUBFOLDER:audio_msgs\nNOT EXECUTABLE",
+ "name" : "DEPENDENCY: audio_msgs",
+ "uuid" : "88aec3fc-6d19-455e-96fc-303c6aaab831",
+ "version" : "spring_dev"
},
{
- "description" : "REPO:git@gitlab.inria.fr:spring/wp7_ari/respeaker_ros.git BIN:respeaker_multichan_node.py",
- "name" : "respeaker_ros",
- "uuid" : "b96ac6ba-08a0-4df0-8341-206c356f7c87",
+ "description" : "REPO:git@gitlab.inria.fr:spring/wp7_ari/hri_person_manager.git",
+ "name" : "hri_person_manager",
+ "uuid" : "1f5e18f3-1be0-4e21-a3e1-439a597fe002",
"version" : "master"
},
{
- "description" : "Detects age/gender\nREPO:git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git\nSUBFOLDER:wp4_people_characteristics\nBIN:soft_biometrics_estimator.py",
- "name" : "Soft biometrics",
- "uuid" : "970d1105-d292-4308-b90f-8d8005a781eb",
+ "description" : "REPO:git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git\nSUBFOLDER:wp4_msgs\nNOT EXECUTABLE",
+ "name" : "DEPENDENCY: wp4_msgs",
+ "uuid" : "af8592a3-f2de-4843-b29d-8868afac79be",
"version" : "master"
},
{
- "description" : "MOCK: ROS mediapipe/openpose is...",
- "name" : "MOCK: ROS mediapipe/openpose",
- "uuid" : "135fdc57-8361-4626-9761-96b08cf17259",
- "version" : "0.0.1"
+ "description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git\nSUBFOLDER:interaction_manager_msgs\nNOT EXECUTABLE",
+ "name" : "DEPENDENCY: interaction_manager_msgs",
+ "uuid" : "269a1164-ad2d-488c-9b86-b4256faddf9f",
+ "version" : "spring_dev"
},
{
"description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git\nSUBFOLDER:robot_behaviour_plan_actions",
@@ -97,23 +61,47 @@
"version" : "spring_dev"
},
{
- "description" : "MOCK: People 3D tracker [position/orientation] is...",
- "name" : "MOCK: People 3D tracker [position/orientation]",
- "uuid" : "6b0cec9a-b148-4d1d-b038-2986a289b7e6",
- "version" : "0.0.1"
+ "description" : "REPO: git@gitlab:ros4hri/hri_msgs.git\nNOT EXECUTABLE",
+ "name" : "DEPENDENCY: hri_msgs",
+ "uuid" : "7590c224-e846-4f1c-9ecb-0a2992568089",
+ "version" : "0.1.1"
},
{
- "description" : "REPO:git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git\nSUBFOLDER:wp4_msgs\nNOT EXECUTABLE",
- "name" : "DEPENDENCY: wp4_msgs",
- "uuid" : "af8592a3-f2de-4843-b29d-8868afac79be",
+ "description" : "REPO:git@gitlab.inria.fr:spring/wp7_ari/respeaker_ros.git BIN:respeaker_multichan_node.py",
+ "name" : "respeaker_ros",
+ "uuid" : "b96ac6ba-08a0-4df0-8341-206c356f7c87",
"version" : "master"
},
+ {
+ "description" : "- online services\n- not started yet",
+ "name" : "MOCK: Speaker identification",
+ "uuid" : "9387ee34-690d-4830-932c-7567cee820ef",
+ "version" : "0.0.1"
+ },
{
"description" : "REPO:git@gitlab.inria.fr:spring/wp7_ari/spring_msgs.git NOT EXECUTABLE",
"name" : "DEPENDENCY: spring_msgs",
"uuid" : "754b3165-805d-469a-b604-4dfef5453911",
"version" : "0.0.2"
},
+ {
+ "description" : "REPO:https://gitlab.inria.fr/spring/wp5_spoken_conversations/asr\nSUBFOLDER:google_asr/google_asr",
+ "name" : "google_asr",
+ "uuid" : "11d2ee50-fd1e-4664-be3b-1a250ec7d758",
+ "version" : "BIU_dev"
+ },
+ {
+ "description" : "The code is primarily developed at INRIA by Timothée Wintz.\nREPO: https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior\nSUBFOLDER:src/robot_behavior",
+ "name" : "robot_behavior",
+ "uuid" : "d5ec9783-4c4f-4652-a8bd-b786a1905f48",
+ "version" : "devel"
+ },
+ {
+ "description" : "[update 05/22]\n- single microphone improvement\n\nThis node does:\n\n - speech echo cancelation, - speech enhancement, - speech separation and diarization REPO:https://gitlab.inria.fr/spring/wp3_av_perception/speech-enhancement SUBFOLDER:audio_processing ",
+ "name" : "audio_processing",
+ "uuid" : "703291ee-d2c9-4f3c-a94c-fb6030dd783e",
+ "version" : "BIU_dev"
+ },
{
"description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git\nSUBFOLDER:social_scene_msgs\nNOT EXECUTABLE",
"name" : "DEPENDENCY: social_scene_msgs",
@@ -121,60 +109,78 @@
"version" : "spring_dev"
},
{
- "description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git\nSUBFOLDER:social_scene_context_understanding",
- "name" : "social_scene_context_understanding",
- "uuid" : "05421051-4c03-42de-8bbb-0d0965e14f68",
+ "description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git\nSUBFOLDER:interaction_manager",
+ "name" : "Interaction manager",
+ "uuid" : "b87a23ac-d223-4bac-b438-0b16e6e55270",
"version" : "spring_dev"
},
{
- "description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/asr.git\nSUBFOLDER:audio_msgs\nNOT EXECUTABLE",
- "name" : "DEPENDENCY: audio_msgs",
- "uuid" : "88aec3fc-6d19-455e-96fc-303c6aaab831",
- "version" : "spring_dev"
+ "description" : "This code is primarily developed at INRIA by Luis Gomez Camara.\nREPO: https://gitlab.inria.fr/spring/wp3_av_perception/multi-person_visual_tracker/",
+ "name" : "FairMOT Multi-people body tracker",
+ "uuid" : "d0367ed7-2b45-4244-9507-538e7767127f",
+ "version" : "devel"
},
{
- "description" : "- online services\n- not started yet",
- "name" : "MOCK: Speaker identification",
- "uuid" : "9387ee34-690d-4830-932c-7567cee820ef",
+ "description" : "MOCK: ROS mediapipe/openpose is...",
+ "name" : "MOCK: ROS mediapipe/openpose",
+ "uuid" : "135fdc57-8361-4626-9761-96b08cf17259",
"version" : "0.0.1"
},
{
- "description" : "This code is primarily developed at INRIA by Luis Gomez Camara.\nREPO: https://gitlab.inria.fr/spring/wp3_av_perception/multi-person_visual_tracker/",
- "name" : "FairMOT Multi-people body tracker",
- "uuid" : "d0367ed7-2b45-4244-9507-538e7767127f",
- "version" : "devel"
+ "description" : "Detects presence of a facial mask\nREPO:git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git\nSUBFOLDER:wp4_people_characteristics\nBIN:mask_detector.py",
+ "name" : "Mask detection",
+ "uuid" : "b343b3de-f4eb-412c-ae93-fca0f090ee5d",
+ "version" : "master"
+ },
+ {
+ "description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git\nSUBFOLDER:dialogue_arbiter",
+ "name" : "dialogue arbiter",
+ "uuid" : "e2ee44b3-4f04-4a27-a947-525fae05035d",
+ "version" : "spring_dev"
},
{
"connections" : [
{
- "from" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:tf: /face_id_gaze",
+ "from" : "ed36231e-fb0f-45d5-8770-6f8c613f8ca4:look_at goals",
"name" : "anonymous",
- "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:gaze direction",
- "uuid" : "0de8cacd-26a8-4d65-b9d1-266658e3c74c"
+ "to" : "9a5658f1-943d-4889-8e2a-0735ee5de159:goal",
+ "uuid" : "9a6166cd-6b2f-4cdd-a470-c8caaf29a66d"
},
{
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:next utterance",
+ "from" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:output?",
"name" : "anonymous",
- "to" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:speech [std_msgs/String]",
- "uuid" : "9d1fa155-b8c9-464f-a6b0-7a5b435833cd"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:input",
+ "uuid" : "c6e06c4e-d9bb-44ca-927d-05258e028480"
},
{
- "from" : "48ed53a1-16b6-42b8-9c8f-6df5dce5b604:tracking information",
+ "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/tracked [hri_msgs/IdsList]",
"name" : "anonymous",
- "to" : "b70f5085-b32c-47de-b158-73fc4d83fb93:tracking information",
- "uuid" : "5d8dea3e-22bb-4008-9687-f6af563f1a56"
+ "to" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:/humans/persons/tracked",
+ "uuid" : "ad7dd3e2-3743-4761-a1f7-2cbf3783df83"
},
{
- "from" : "8a4e7f8e-3ade-4e30-9f41-1bfeee90055b:person_id_candidate [hri_msgs/IdsMatch]",
+ "from" : "9a5658f1-943d-4889-8e2a-0735ee5de159:/look_at [LookAt]",
"name" : "anonymous",
- "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:candidate_matches [hri_msgs/IdsMatch]",
- "uuid" : "c0e2fb4b-26a7-498e-896b-e3278a6224e6"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/look_at [LookAt]",
+ "uuid" : "90b73e40-c764-46c4-ac32-abcedc29a818"
+ },
+ {
+ "from" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6:/navigate [Navigate]",
+ "name" : "anonymous",
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/navigate [Navigate]",
+ "uuid" : "f079a4f9-9fbb-44bc-8f51-24e96f94d674"
+ },
+ {
+ "from" : "b2cf0310-792d-4753-9e3d-243de1c81bbe:/go_towards [GoTowards]",
+ "name" : "anonymous",
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/go_towards [GoTowards]",
+ "uuid" : "9662dbe9-6e01-4ec3-a983-80cb2e37efb8"
},
{
- "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:/h/f/*/roi [sensor_msgs/RegionOfInterest]",
+ "from" : "ed36231e-fb0f-45d5-8770-6f8c613f8ca4:nav goals",
"name" : "anonymous",
- "to" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:/h/f/*/roi [hri_msgs/RegionOfInterest]",
- "uuid" : "477e0004-b15d-46b9-b6a0-80c8963b36c0"
+ "to" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6:goal",
+ "uuid" : "37ed835f-0a3b-48e1-926c-2cc74db2b200"
},
{
"from" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:/h/i/gaze [hri_msgs/Gaze]",
@@ -183,166 +189,166 @@
"uuid" : "76fdc6fe-e123-4a43-a6f5-20429c1a7d69"
},
{
- "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/humans/persons/*/body_id [std_msgs/String]",
+ "from" : "1e291716-8134-4fd0-8bfa-0d910d026fec:dense 3d map",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/h/p/*/softbiometrics [hri_msgs/Softbiometrics]",
- "uuid" : "9c3a70db-3bc2-46bb-9af3-2402bf296ceb"
+ "to" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:dense 3d map",
+ "uuid" : "42b5f41f-7a83-4ed2-88c5-c23ed58b6742"
},
{
- "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/h/b/*/roi [sensor_msgs/RegionOfInterest",
+ "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/audio/postprocess_audio_streams [audio_common_msgs/AudioData[]]",
"name" : "anonymous",
- "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:people RoIs",
- "uuid" : "5f1d7cad-c4ba-4c81-a411-241505837aa1"
+ "to" : "49998d33-7c64-4557-b1c9-56b241b59600:/audio/postprocess_audio_streams [audio_common_msgs/AudioData]",
+ "uuid" : "9e856174-390f-45e4-88a0-63543e515427"
},
{
- "from" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:scene graph",
+ "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/raw_audio [respeaker_ros/RawAudioData]",
"name" : "anonymous",
- "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:scene",
- "uuid" : "2c302ab0-19f5-4939-9345-4122d8e060be"
+ "to" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/audio/raw_audio [spring_msgs/RawAudioData]",
+ "uuid" : "725d3768-1e9d-4591-8590-c2ad18a22db6"
},
{
- "from" : "48ed53a1-16b6-42b8-9c8f-6df5dce5b604:source angle",
+ "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/tracker/tracker_output [std_msgs/String]",
"name" : "anonymous",
- "to" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:sound localization",
- "uuid" : "f801caaa-2adf-42e9-ae6c-a3079b25e7e4"
+ "to" : "b600af28-8f8a-4da9-89df-12b621f45244:/tracker/tracker_output [std_msgs/String]",
+ "uuid" : "2d85b51f-aebc-4b27-b74a-45b053b7d27f"
},
{
- "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/*/softbiometrics [hri_msgs/Softbiometrics]",
+ "from" : "4071a411-0acc-401d-8bbb-bb47fdc00697:/humans/candidate_matches [hri_msgs/IdsMatch] [anonymous bodies]",
"name" : "anonymous",
- "to" : "35d5af59-53e3-466c-874d-89131352c403:/h/p/*/softbiometrics [hri_msgs/Softbiometrics]",
- "uuid" : "d9a30f98-b288-47c2-8914-e309151d6597"
+ "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:candidate_matches [hri_msgs/IdsMatch]",
+ "uuid" : "b94e2ef9-ced0-421c-a14f-769cda5884db"
},
{
- "from" : "b70f5085-b32c-47de-b158-73fc4d83fb93:/h/v/*/audio [audio_common_msgs/AudioData]",
+ "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/head_front_camera/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "fb3919be-ce33-4bf7-96c5-7a084bc5f115:/audio/speech_streams [std_msgs/String]",
- "uuid" : "e3df6f6f-c81c-491e-941c-7267619d59a3"
+ "to" : "633be9cd-9f1b-4cdd-b708-a1edd3742842:/head_front_camera/color/image_raw/compressed [sensor_msgs/CompressedImage]",
+ "uuid" : "3468cd8a-4c44-424a-977e-3d431e2f62bd"
},
{
- "from" : "49998d33-7c64-4557-b1c9-56b241b59600:/audio/speech_streams -- array of hri_msgs/LiveSpeech",
+ "from" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:semantic description",
"name" : "anonymous",
- "to" : "fb3919be-ce33-4bf7-96c5-7a084bc5f115:/audio/speech_streams [std_msgs/String]",
- "uuid" : "7781e166-4fa1-4597-bb9c-6ab0df90c5e2"
+ "to" : "35d5af59-53e3-466c-874d-89131352c403:semantic scene description",
+ "uuid" : "c8b7ebbb-8ba7-4c32-9b99-76a5806b9e3b"
},
{
- "from" : "b357b248-d5a8-445d-9c09-5c567d074966:/detected_objects [spring_msgs/DetectedObjectArray]",
+ "from" : "4071a411-0acc-401d-8bbb-bb47fdc00697:/humans/bodies/tracked [hri_msgs/IdsList]",
"name" : "anonymous",
- "to" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:/detected_objects [spring_msgs/DetectedObjectArray]",
- "uuid" : "7c0fa9d2-5c6c-402b-bc90-78d2f32807e5"
+ "to" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a:/humans/bodies/tracked [hri_msgs/IdsList]",
+ "uuid" : "f6a7fa89-cdf7-484d-806b-a34aab8aabc4"
},
{
- "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/raw_audio [respeaker_ros/RawAudioData]",
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/nav_vel [Twist]",
"name" : "anonymous",
- "to" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/audio/raw_audio [respeaker_ros/RawAudioData]",
- "uuid" : "725d3768-1e9d-4591-8590-c2ad18a22db6"
+ "to" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:input",
+ "uuid" : "76376fcb-a31a-40db-9220-1fef7cf68fc8"
},
{
- "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/ego_audio [audio_common_msgs/AudioData]",
+ "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/head_front_camera/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/audio/ego_audio [audio_common_msgs/AudioData]",
- "uuid" : "b89143e5-d894-4b4c-951b-c573ecd718c4"
+ "to" : "b357b248-d5a8-445d-9c09-5c567d074966:/camera_head/color/image_raw [sensor_msgs/Image]",
+ "uuid" : "467474d3-a155-434e-9203-4a9fe8b18b84"
},
{
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:DialogueState",
+ "from" : "b70f5085-b32c-47de-b158-73fc4d83fb93:/h/v/*/raw_audio [spring_msgs/RawAudioData]",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:dialogue state",
- "uuid" : "edb67b60-5748-4e4f-bc1c-66f386b4a870"
+ "to" : "fb3919be-ce33-4bf7-96c5-7a084bc5f115:/h/v/*/raw_audio [spring_msgs/RawAudioData]",
+ "uuid" : "a2574550-9e3f-4322-a3f1-a72c4d283018"
},
{
- "from" : "fb3919be-ce33-4bf7-96c5-7a084bc5f115:/h/v/*/speech [hri_msgs/LiveSpeech]",
+ "from" : "49998d33-7c64-4557-b1c9-56b241b59600:/audio/speech_streams [std_msgs/String]",
"name" : "anonymous",
- "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/h/v/*/speech [hri_msgs/LiveSpeech]",
- "uuid" : "28b5d9ee-6f5e-4273-88d6-580a3e5a310f"
+ "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/h/v/*/speech [hri_msgs/LiveSpeech]",
+ "uuid" : "db3221a7-783a-4ffb-9ca2-8d074e9706fd"
},
{
- "from" : "35d5af59-53e3-466c-874d-89131352c403:interaction state",
+ "from" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:semantic description",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:robot state",
- "uuid" : "0a79dcb8-dd0c-44de-ab5a-69905131ab0e"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:semantic scene description",
+ "uuid" : "0c15a3cf-3d24-491b-bbc4-e6d34b1c265c"
},
{
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:who to look at",
+ "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/head_front_camera/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:look at",
- "uuid" : "24403468-2363-4349-b05e-8800f239e890"
+ "to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/head_front_camera/color/image_raw/compressed",
+ "uuid" : "1fb9d2e7-103a-4355-b2a9-dc3debc7be30"
},
{
- "from" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:semantic description",
+ "from" : "b600af28-8f8a-4da9-89df-12b621f45244:/tracked_pose_2df/frame [openpose/Frame]",
"name" : "anonymous",
- "to" : "35d5af59-53e3-466c-874d-89131352c403:semantic scene description",
- "uuid" : "c8b7ebbb-8ba7-4c32-9b99-76a5806b9e3b"
+ "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:/tracked_pose_2df/frame [openpose/Frame] [feet position]",
+ "uuid" : "1f319e0a-3956-45c1-9000-adcb6c4a9dc1"
},
{
- "from" : "b70f5085-b32c-47de-b158-73fc4d83fb93:/h/v/*/audio [audio_common_msgs/AudioData]",
+ "from" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:scene graph",
"name" : "anonymous",
- "to" : "e9861836-caed-4c19-87e2-13ba1a380613:/h/v/*/audio [audio_common_msgs/AudioData]",
- "uuid" : "695c4b8b-4ca8-41fe-915f-084b935e46d7"
+ "to" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:scene graph",
+ "uuid" : "b10cbc39-5513-44e6-81ef-1c010a9c940b"
},
{
- "from" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:/tts/feedback",
+ "from" : "b357b248-d5a8-445d-9c09-5c567d074966:/detected_objects [spring_msgs/DetectedObjectArray]",
"name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/tts/feedback",
- "uuid" : "d18bf8c0-9a5e-478d-9d8a-a6ebc5ac0188"
+ "to" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:/detected_objects [spring_msgs/DetectedObjectArray]",
+ "uuid" : "7c0fa9d2-5c6c-402b-bc90-78d2f32807e5"
},
{
- "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:low-level actions",
+ "from" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a:/humans/faces/tracked [hri_msgs/IdsList]",
"name" : "anonymous",
- "to" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:input",
- "uuid" : "76376fcb-a31a-40db-9220-1fef7cf68fc8"
+ "to" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/humans/faces/tracked [hri_msgs/IdsList]",
+ "uuid" : "261be2c2-b322-4375-a323-58eef6c3b84d"
},
{
- "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:/h/f/*/roi [sensor_msgs/RegionOfInterest]",
+ "from" : "4071a411-0acc-401d-8bbb-bb47fdc00697:/h/b/*/skeleton_2d [hri_msg/Skeleton2D]",
"name" : "anonymous",
- "to" : "e9861836-caed-4c19-87e2-13ba1a380613:/h/f/*/roi [hri_msgs/RegionOfInterest]",
- "uuid" : "a2a69657-28ce-4f09-96d3-d68d1f73dced"
+ "to" : "d715b004-7177-4001-bd9d-725e87789c94:/h/b/*/skeleton_2d [hri_msg/Skeleton2D]",
+ "uuid" : "98db5e90-d4ca-42de-9da5-eacb1682275a"
},
{
- "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/head_front_camera/color/image_raw [sensor_msgs/Image]",
+ "from" : "ed36231e-fb0f-45d5-8770-6f8c613f8ca4:go_towards goals",
"name" : "anonymous",
- "to" : "1e291716-8134-4fd0-8bfa-0d910d026fec:/camera_head/color/image_head [sensor_msgs/Image]",
- "uuid" : "f02baefa-2160-49be-ada0-6cf0e843447f"
+ "to" : "b2cf0310-792d-4753-9e3d-243de1c81bbe:goal",
+ "uuid" : "2889467a-5168-42f3-9e4c-d92270d158db"
},
{
- "from" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:tf: /face_id_gaze",
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:plan",
"name" : "anonymous",
- "to" : "d715b004-7177-4001-bd9d-725e87789c94:gaze direction",
- "uuid" : "030d86be-bbbc-4e20-8ec6-07484f776a21"
+ "to" : "ed36231e-fb0f-45d5-8770-6f8c613f8ca4:plan",
+ "uuid" : "217bc92d-b743-4bb0-bc77-c3fb57c8c2e2"
},
{
- "from" : "b62de7f5-7899-48fd-a64d-3226e68bb21f:/map_refined [nav_msgs/OccupancyGrid]",
+ "from" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:scene graph",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:occupancy map",
- "uuid" : "fd48565b-cdbc-4fcd-a5fd-f3983311a074"
+ "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:scene",
+ "uuid" : "2c302ab0-19f5-4939-9345-4122d8e060be"
},
{
- "from" : "409d9526-77ed-4ee3-bae9-ab48381e0b28:/torso_front_camera/color/image_raw [sensor_msgs/Image]",
+ "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/audio/enh_audio [spring_msgs/RawAudioData]",
"name" : "anonymous",
- "to" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/camera_head/color/image_raw [sensor_msgs/Image]",
- "uuid" : "0df69792-572a-41d2-ac85-593277dfc65b"
+ "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/audio/enh_audio [spring_msgs/RawAudioData]",
+ "uuid" : "97df08a2-914e-4b3e-9d5f-c459f6b3d731"
},
{
- "from" : "c9c1df26-7274-4765-8772-b06e15f87c3c:/h/b/*/skeleton2d [hri_msgs/Skeleton2D]",
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:interaction state",
"name" : "anonymous",
- "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:feet position",
- "uuid" : "917f4d3e-5b78-4fd4-bc19-b776e8913206"
+ "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:interaction messages",
+ "uuid" : "ed16d30f-ff2e-4f62-b96d-ba128166c0f6"
},
{
- "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/audio/postprocess_audio_streams [audio_common_msgs/AudioData]",
+ "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/...",
"name" : "anonymous",
- "to" : "b70f5085-b32c-47de-b158-73fc4d83fb93:/audio/postprocess_audio_streams [audio_common_msgs/AudioData]",
- "uuid" : "33421a71-54bc-484c-8110-48814a68a15b"
+ "to" : "8dc55dfc-0215-44a1-9795-9255c328b198:/h/p/...",
+ "uuid" : "25df8089-5bc4-4a4c-9e3a-44a008a58247"
},
{
- "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/h/b/*/cropped [sensor_msg/Image]",
+ "from" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:/rtabmap/proj_map [OccupancyGrid]",
"name" : "anonymous",
- "to" : "c9c1df26-7274-4765-8772-b06e15f87c3c:/h/b/*/cropped [sensor_msg/Image]",
- "uuid" : "09c38731-56fa-40d8-80fc-968f2613c997"
+ "to" : "5058d2d2-d4b6-4fa5-abbf-cf0b7700e251:/rtabmap/proj_map [OccupancyGrid]",
+ "uuid" : "600b7243-6686-44a1-8c1c-0730bc5d5040"
},
{
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:active personID",
+ "from" : "b600af28-8f8a-4da9-89df-12b621f45244:/tracked_pose_2df/frame [openpose/Frame]",
"name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/h/v/*/speech [hri_msgs/LiveSpeech]",
- "uuid" : "edb7145b-77e7-463a-8b29-f8f2df17cfee"
+ "to" : "5058d2d2-d4b6-4fa5-abbf-cf0b7700e251:/tracked_pose_2df/frame [openpose/Frame]",
+ "uuid" : "4731b321-ea4f-4d1f-8d78-96115d15def9"
},
{
"from" : "814e358a-b568-4082-99f3-4629d35e7f2e:tf: /odom",
@@ -351,526 +357,1096 @@
"uuid" : "b5c8c9c8-32a9-431a-ad91-a8c3f873bee5"
},
{
- "from" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:semantic description",
+ "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:DialogueState",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:semantic scene description",
- "uuid" : "0c15a3cf-3d24-491b-bbc4-e6d34b1c265c"
+ "to" : "35d5af59-53e3-466c-874d-89131352c403:dialogue state",
+ "uuid" : "0607f6c5-e3fd-4b79-9efb-eda2576505dd"
},
{
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:next utterance",
+ "from" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a:/h/f/*/roi [sensor_msgs/RegionOfInterest]",
"name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:speech output",
- "uuid" : "426656f1-0bfe-4b24-b55c-f1fbe35d0f24"
+ "to" : "4fbd8427-4d9f-4087-9a30-e7df1c1f69e7:/h/f/*/roi [sensor_msgs/RegionOfInterest]",
+ "uuid" : "54f09cbb-7a2f-45cc-952d-b0e950066641"
},
{
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:gestures",
+ "from" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a:/h/f/*/cropped [sensor_msg/Image]",
"name" : "anonymous",
- "to" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:input",
- "uuid" : "1b666d89-6a0a-46bb-9b96-72e8a7cbe369"
+ "to" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/head_front_camera/color/image_raw/compressed [sensor_msgs/CompressedImage]",
+ "uuid" : "8f212fe6-5451-41d5-968f-80c9ea000024"
},
{
- "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:/h/f/*/roi [sensor_msgs/RegionOfInterest]",
+ "from" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:/joint_states",
"name" : "anonymous",
- "to" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a:/h/f/*/roi [sensor_msgs/RegionOfInterest]",
- "uuid" : "30e6e7f9-cf27-4ae4-b695-058b48809f98"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/joint_states",
+ "uuid" : "cb850e08-5d3d-4203-8d02-68bfc617e623"
},
{
- "from" : "1e291716-8134-4fd0-8bfa-0d910d026fec:dense 3d map",
+ "from" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:/rtabmap/proj_map [OccupancyGrid]",
"name" : "anonymous",
- "to" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:dense 3d map",
- "uuid" : "42b5f41f-7a83-4ed2-88c5-c23ed58b6742"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/rtabmap/proj_map [OccupancyGrid]",
+ "uuid" : "7dd2251d-b5ee-4de7-9a0c-ae4af149c5fe"
},
{
- "from" : "35d5af59-53e3-466c-874d-89131352c403:interaction state",
+ "from" : "5058d2d2-d4b6-4fa5-abbf-cf0b7700e251:/rtabmap/rtabmap_local_map_rectified [OccupancyGrid]",
"name" : "anonymous",
- "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:interaction messages",
- "uuid" : "ed16d30f-ff2e-4f62-b96d-ba128166c0f6"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/rtabmap/rtabmap_local_map_rectified [OccupancyGrid]",
+ "uuid" : "5f9175f1-aa7c-4b79-9e94-c4ac2047c3c1"
},
{
- "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/head_front_camera/color/image_raw [sensor_msgs/Image]",
+ "from" : "8dc55dfc-0215-44a1-9795-9255c328b198:/kb/add_fact [std_msgs/String]",
"name" : "anonymous",
- "to" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:/camera_head/color/image_raw [sensor_msgs/Image]",
- "uuid" : "52344796-4c01-4c66-b4f7-95bd4729c3d8"
+ "to" : "5a0113b6-a999-4339-8e21-44f3b8b3d693:/kb/add_fact [std_msgs/String]",
+ "uuid" : "32a45d48-e0c9-4be6-b445-585a3dc2874e"
},
{
- "from" : "35d5af59-53e3-466c-874d-89131352c403:nav goals",
+ "from" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:/tts/feedback",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:following/nav goals",
- "uuid" : "8349f12e-ea96-4d0d-a315-1ad231539936"
- },
+ "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/tts/feedback",
+ "uuid" : "d18bf8c0-9a5e-478d-9d8a-a6ebc5ac0188"
+ },
{
- "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/head_front_camera/color/image_raw [sensor_msgs/Image]",
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:interaction state",
"name" : "anonymous",
- "to" : "b357b248-d5a8-445d-9c09-5c567d074966:/camera_head/color/image_raw [sensor_msgs/Image]",
- "uuid" : "467474d3-a155-434e-9203-4a9fe8b18b84"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:robot state",
+ "uuid" : "0a79dcb8-dd0c-44de-ab5a-69905131ab0e"
},
{
- "from" : "b600af28-8f8a-4da9-89df-12b621f45244:output",
+ "from" : "910781c7-928f-4445-a97b-6fbad208066f:/torso_front_camera/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:feet position",
- "uuid" : "1f319e0a-3956-45c1-9000-adcb6c4a9dc1"
+ "to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/torso_front_camera/color/image_raw/theora",
+ "uuid" : "41b7678b-dcf8-429b-a17d-ffbe2f916995"
},
{
- "from" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:scene graph",
+ "from" : "910781c7-928f-4445-a97b-6fbad208066f:/torso_front_camera/color/image_raw [sensor_msgs/Image]",
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"name" : "SPRING architecture",
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{
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},
{
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},
{
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},
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},
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},
{
"direction" : "out",
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},
{
"direction" : "out",
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},
{
"direction" : "in",
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+ "name" : "/tracked_pose_2df/frame [openpose/Frame] [feet position]"
+ },
{
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- "name" : "/detected_objects [spring_msgs/DetectedObjectArray]"
+ "name" : "/h/b/*/cropped [sensor_msg/Image]"
},
{
- "direction" : "in",
- "name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
+ "direction" : "out",
+ "name" : "/humans/candidate_matches [hri_msgs/IdsMatch] [anonymous bodies]"
+ },
+ {
+ "direction" : "out",
+ "name" : "tf: /body_id"
+ },
+ {
+ "direction" : "out",
+ "name" : "/h/b/*/skeleton_2d [hri_msg/Skeleton2D]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/h/b/*/roi [sensor_msgs/RegionOfInterest"
+ },
+ {
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}
],
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},
{
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- "name" : "MOCK: Voice speech matching",
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+ "name" : "MOCK: F-formation [DEPTRECATED - REPLACED BY INRIA controller_node]",
"ports" : [
{
- "direction" : "out",
- "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
+ "direction" : "in",
+ "name" : "tf: /person_id"
},
{
"direction" : "in",
- "name" : "/audio/speech_streams [std_msgs/String]"
+ "name" : "/h/i/gaze [hri_msgs/Gaze]"
},
{
- "direction" : "in",
- "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
+ "direction" : "out",
+ "name" : "/h/i/groups [hri_msgs/Group]"
}
],
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},
{
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- "name" : "hri_person_manager",
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+ "name" : "social_scene_context_understanding",
"ports" : [
{
"direction" : "in",
- "name" : "/h/f/*/softbiometrics [hri_msgs/Softbiometrics]"
+ "name" : "scene graph"
},
{
"direction" : "out",
- "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
+ "name" : "semantic description"
+ }
+ ],
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+ },
+ {
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+ "name" : "knowledge_core",
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+ {
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+ "name" : "service: /kb/query"
},
{
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- "name" : "TF (voices)"
- },
+ "name" : "/kb/add_fact [std_msgs/String]"
+ }
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+ },
+ {
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+ "name" : "MOCK: Occupancy map",
+ "ports" : [
{
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- "name" : "/humans/persons/*/body_id [std_msgs/String]"
+ "direction" : "in",
+ "name" : "dense 3d map"
},
{
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- "name" : "/h/p/*/face_id [std_msgs/String]"
+ "direction" : "in",
+ "name" : "TF (bodies)"
},
+ {
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+ "name" : "/map_refined [nav_msgs/OccupancyGrid]"
+ }
+ ],
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+ "uuid" : "b62de7f5-7899-48fd-a64d-3226e68bb21f"
+ },
+ {
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+ "ports" : [
{
"direction" : "out",
"name" : "tf: /person_id"
},
{
"direction" : "out",
- "name" : "/h/p/*/voice_id [std_msgs/String]"
+ "name" : "/h/p/..."
+ },
+ {
+ "direction" : "out",
+ "name" : "/h/p/tracked [hri_msgs/IdsList]"
+ },
+ {
+ "direction" : "in",
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+ }
+ ],
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+ },
+ {
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+ },
+ {
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+ },
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+ "name" : "output?"
+ }
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+ "uuid" : "a1d01235-a287-4e67-900b-d0e446924e2a"
+ },
+ {
+ "label" : "CVUT",
+ "name" : "MOCK: Semantic mapping [resources permitting]",
+ "ports" : [
+ {
+ "direction" : "in",
+ "name" : "dense 3d map"
+ },
+ {
+ "direction" : "in",
+ "name" : "/detected_objects [spring_msgs/DetectedObjectArray]"
+ },
+ {
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+ }
+ ],
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+ "uuid" : "dc52fa2f-b098-4f96-a830-eb329bcf282b"
+ },
+ {
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+ {
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+ "name" : "semantic scene description"
+ },
+ {
+ "direction" : "in",
+ "name" : "dialogue state"
},
{
"direction" : "in",
- "name" : "TF (faces)"
+ "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
+ },
+ {
+ "direction" : "out",
+ "name" : "plan"
+ },
+ {
+ "direction" : "out",
+ "name" : "interaction state"
+ }
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+ },
+ {
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+ {
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+ "name" : "speech [std_msgs/String]"
+ },
+ {
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+ },
+ {
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+ {
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+ "name" : "/torso_front_camera/imu"
+ },
+ {
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+ "name" : "torso_front_camera/infra*/*"
+ },
+ {
+ "direction" : "out",
+ "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
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+ },
+ {
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+ },
+ {
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+ },
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+ },
+ {
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+ {
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+ "name" : "/humans/persons/tracked"
+ },
+ {
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+ },
+ {
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+ "name" : "MOCK: Voice-body matching",
+ "ports" : [
+ {
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+ "name" : "tf: /voice_id"
+ },
+ {
+ "direction" : "in",
+ "name" : "tf: /body_id"
+ },
+ {
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+ "name" : "/humans/candidate_matches [hri_msgs/IdsMatch] [body<->voice]"
+ }
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+ },
+ {
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+ {
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+ "name" : "/h/f/*/roi [sensor_msgs/RegionOfInterest]"
+ },
+ {
+ "direction" : "in",
+ "name" : "vision_msgs/depth_estimation [DepthFrame]"
+ },
+ {
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+ "name" : "GazeFrame [2D point in heatmap]"
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+ "name" : "/go_towards [GoTowards]"
+ },
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+ },
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+ },
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+ "name" : "/look_at [LookAt]"
+ },
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+ "name" : "/navigate [Navigate]"
+ },
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+ },
+ {
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+ },
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+ "name" : "MOCK: Robot GUI [tablet]",
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+ {
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+ "name" : "additional support material"
+ },
+ {
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+ "name" : "speech output"
+ },
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+ },
+ {
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+ "name" : "/audio/raw_audio [respeaker_ros/RawAudioData]"
+ },
+ {
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+ {
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+ "name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
+ },
+ {
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+ {
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+ "name" : "MOCK: Speaker identification",
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+ "name" : "/h/v/*/doa"
+ },
+ {
+ "direction" : "in",
+ "name" : "/audio/audio_sources [spring_msgs/RawAudioData[]]"
+ },
+ {
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+ "name" : "/h/v/*/raw_audio [spring_msgs/RawAudioData]"
+ },
+ {
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+ "name" : "/humans/candidate_matches [hri_msgs/IdsMatch] [person<->voice]"
+ },
+ {
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+ "name" : "tf: /voice_id"
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+ {
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+ "name" : "/camera_torso/color/image_torso [sensor_msgs/Image]"
+ },
+ {
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+ },
+ {
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+ "name" : "dense 3d map"
+ },
+ {
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+ "name" : "localisation prior"
+ },
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+ "name" : "tf: /odom"
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+ "name" : "speech",
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+ "name" : "/audio/postprocess_audio_streams [audio_common_msgs/AudioData]"
},
{
- "direction" : "in",
- "name" : "candidate_matches [hri_msgs/IdsMatch]"
+ "direction" : "out",
+ "name" : "/audio/speech_streams [std_msgs/String]"
}
],
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},
{
- "label" : "INRIA",
- "name" : "robot_behavior",
+ "label" : "UNITN",
+ "name" : "MOCK: User visual focus",
"ports" : [
{
"direction" : "in",
- "name" : "following/nav goals"
+ "name" : "scene"
},
{
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- "name" : "occupancy map"
+ "name" : "gaze direction"
},
{
"direction" : "out",
- "name" : "status"
+ "name" : "/h/i/gaze [hri_msgs/Gaze]"
+ },
+ {
+ "direction" : "in",
+ "name" : "depth"
},
{
"direction" : "out",
- "name" : "low-level actions"
+ "name" : "who's looking at what?"
},
{
"direction" : "in",
- "name" : "status"
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+ "name" : "attention"
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+ "name" : "MOCK: Activity reco",
+ "ports" : [
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- "name" : "/h/i/groups [hri_msgs/Group]"
+ "name" : "/h/b/*/skeleton_2d [hri_msg/Skeleton2D]"
},
{
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- "name" : "look at"
+ "direction" : "out",
+ "name" : "[?] output"
}
],
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},
{
- "label" : "BIU",
- "name" : "MOCK: Multi-person audio tracking",
+ "label" : "INRIA",
+ "name" : "controller_node",
"ports" : [
{
"direction" : "out",
- "name" : "output"
+ "name" : "/nav_vel [Twist]"
},
{
"direction" : "out",
- "name" : "source angle"
+ "name" : "/head_controller/command [JointTrajectory]"
},
{
- "direction" : "out",
- "name" : "tf: /voice_id"
+ "direction" : "in",
+ "name" : "status"
},
{
"direction" : "out",
- "name" : "tracking information"
+ "name" : "status"
},
{
- "direction" : "in",
- "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
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- "direction" : "in",
- "name" : "additional support material"
+ "direction" : "out",
+ "name" : "/h/i/groups [hri_msgs/Group]"
},
{
"direction" : "in",
- "name" : "/tts/feedback"
+ "name" : "/navigate [Navigate]"
},
{
"direction" : "in",
- "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
+ "name" : "/go_towards [GoTowards]"
},
{
"direction" : "in",
- "name" : "speech output"
- }
- ],
- "position" : [ 4360, 540 ],
- "size" : [ 400, 180 ],
- "uuid" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d"
- },
- {
- "label" : "UNITN",
- "name" : "ros_openpose",
- "ports" : [
+ "name" : "/joint_states"
+ },
{
"direction" : "in",
- "name" : "/h/b/*/cropped [sensor_msg/Image]"
+ "name" : "tf: /person_id"
},
{
"direction" : "out",
- "name" : "/h/b/*/skeleton2d [hri_msgs/Skeleton2D]"
- }
- ],
- "position" : [ 1500, 1040 ],
- "size" : [ 440, 140 ],
- "sub_architecture" : "e496dc05-fbf4-467f-95cf-d8548eefe677",
- "uuid" : "c9c1df26-7274-4765-8772-b06e15f87c3c"
- },
- {
- "label" : "UNITN",
- "name" : "mask_detector",
- "ports" : [
- {
- "direction" : "out",
- "name" : "/h/f/*/mask [std_msgs/Bool]"
+ "name" : "tf: ?"
},
{
"direction" : "in",
- "name" : "/h/f/*/roi [sensor_msgs/RegionOfInterest]"
- }
- ],
- "position" : [ 1460, 1620 ],
- "size" : [ 345, 120 ],
- "sub_architecture" : "b343b3de-f4eb-412c-ae93-fca0f090ee5d",
- "uuid" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a"
- },
- {
- "label" : "UNITN",
- "name" : "MOCK: User attention estimation",
- "ports" : [
- {
- "direction" : "out",
- "name" : "tf: /face_id_gaze"
+ "name" : "/humans/persons/tracked"
},
{
- "direction" : "out",
- "name" : "x,y + attention heatmap"
+ "direction" : "in",
+ "name" : "/look_at [LookAt]"
},
{
"direction" : "in",
- "name" : "TF (faces)"
+ "name" : "/rtabmap/proj_map [OccupancyGrid]"
},
{
"direction" : "in",
- "name" : "/h/f/*/roi [hri_msgs/RegionOfInterest]"
+ "name" : "/rtabmap/rtabmap_local_map_rectified [OccupancyGrid]"
}
],
- "position" : [ 2980, 1940 ],
- "size" : [ 398, 169 ],
- "uuid" : "46e542fd-7a41-4d9a-b3fc-981a724bf538"
- },
- {
- "label" : "HWU",
- "name" : "DEPENDENCY: interaction_manager_msgs",
- "position" : [ 960, 2720 ],
- "size" : [ 340, 120 ],
- "sub_architecture" : "269a1164-ad2d-488c-9b86-b4256faddf9f",
- "uuid" : "e4ad4076-7fa2-496d-b8ce-0d2c43eca484"
+ "position" : [ 5560, 1140 ],
+ "size" : [ 580, 479 ],
+ "sub_architecture" : "d5ec9783-4c4f-4652-a8bd-b786a1905f48",
+ "uuid" : "328fd73c-ead7-4b87-a815-401958fa77a2"
},
{
"label" : "BIU",
- "name" : "MoDE",
+ "name" : "audio_processing_mode",
"ports" : [
{
"direction" : "in",
"name" : "sound localization"
},
{
- "direction" : "out",
- "name" : "/audio/postprocess_audio_streams [audio_common_msgs/AudioData]"
+ "direction" : "in",
+ "name" : "/audio/raw_audio [spring_msgs/RawAudioData]"
},
{
- "direction" : "in",
- "name" : "/audio/ego_audio [audio_common_msgs/AudioData]"
+ "direction" : "out",
+ "name" : "/audio/enh_audio [spring_msgs/RawAudioData]"
},
{
"direction" : "in",
- "name" : "/audio/raw_audio [respeaker_ros/RawAudioData]"
+ "name" : "/audio/ego_audio [audio_common_msgs/AudioData]"
}
],
- "position" : [ 1680, 80 ],
+ "position" : [ 1300, -100 ],
"size" : [ 580, 260 ],
"sub_architecture" : "703291ee-d2c9-4f3c-a94c-fb6030dd783e",
"uuid" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3"
},
+ {
+ "label" : "CVUT",
+ "name" : "DEPENDENCY: InLoc Server",
+ "position" : [ 1040, 2340 ],
+ "size" : [ 440, 120 ],
+ "uuid" : "db2a580b-0dff-4309-a779-a211275824d8"
+ },
+ {
+ "label" : "HWU",
+ "name" : "DEPENDENCY: social_scene_msgs",
+ "position" : [ 1680, 2560 ],
+ "size" : [ 280, 120 ],
+ "sub_architecture" : "ed680a03-e715-423d-b567-001b19ca4840",
+ "uuid" : "fdf1f034-d96a-4852-bb69-3934073e6708"
+ },
{
"label" : "HWU",
"name" : "interaction_manager",
"ports" : [
- {
- "direction" : "out",
- "name" : "active personID"
- },
- {
- "direction" : "out",
- "name" : "nav goals"
- },
{
"direction" : "in",
- "name" : "semantic scene description"
+ "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
},
{
"direction" : "in",
@@ -882,199 +1458,208 @@
},
{
"direction" : "out",
- "name" : "who to look at"
- },
- {
- "direction" : "out",
- "name" : "verbal command"
+ "name" : "gestures"
},
{
"direction" : "in",
- "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
+ "name" : "dialogue state"
},
{
"direction" : "in",
- "name" : "dialogue state"
+ "name" : "input"
},
{
- "direction" : "out",
- "name" : "gestures"
+ "direction" : "in",
+ "name" : "semantic scene description"
}
],
- "position" : [ 3240, 760 ],
+ "position" : [ 3300, 820 ],
"size" : [ 400, 386 ],
"sub_architecture" : "b87a23ac-d223-4bac-b438-0b16e6e55270",
"uuid" : "bc526a14-c5aa-466e-ba5b-30a78b14d672"
},
{
- "label" : "UNITN",
- "name" : "MOCK: Person re-identification",
+ "label" : "INRIA",
+ "name" : "tracker",
"ports" : [
+ {
+ "direction" : "in",
+ "name" : "/front_camera_basetation/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]"
+ },
{
"direction" : "out",
- "name" : "person_id_candidate [hri_msgs/IdsMatch]"
+ "name" : "/h/b/*/roi [sensor_msgs/RegionOfInterest"
},
{
- "direction" : "in",
- "name" : "/h/f/*/roi [sensor_msgs/RegionOfInterest]"
+ "direction" : "out",
+ "name" : "/humans/bodies/tracked [hri_msgs/IdsList]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/tracker/tracker_output [std_msgs/String]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/h/b/*/cropped [sensor_msg/Image]"
}
],
- "position" : [ 1500, 1280 ],
- "size" : [ 345, 138 ],
- "sub_architecture" : "23174a34-ee12-4bca-87e1-39dcf254756c",
- "uuid" : "8a4e7f8e-3ade-4e30-9f41-1bfeee90055b"
- },
- {
- "label" : "HWU",
- "name" : "DEPENDENCY: robot_behaviour_msgs",
- "position" : [ 1340, 2720 ],
- "size" : [ 300, 120 ],
- "sub_architecture" : "9d93f431-05b6-4ee4-88ea-8bb60a01611f",
- "uuid" : "ef2aa285-f20c-40de-a0fe-b4bb37a9ee8a"
+ "position" : [ -1220, 480 ],
+ "size" : [ 680, 200 ],
+ "sub_architecture" : "d0367ed7-2b45-4244-9507-538e7767127f",
+ "uuid" : "d609252f-2fd4-4439-86c3-ece9fd387a3a"
},
{
- "label" : "UNITN",
- "name" : "MOCK: Face detection",
+ "label" : "INRIA",
+ "name" : "rtabmap",
"ports" : [
{
"direction" : "in",
- "name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
+ "name" : "torso_front_camera/infra*/*"
},
{
"direction" : "out",
- "name" : "/h/f/*/roi [sensor_msgs/RegionOfInterest]"
+ "name" : "/rtabmap/proj_map [OccupancyGrid]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/torso_front_camera/imu"
},
{
"direction" : "out",
- "name" : "/h/f/*/cropped [sensor_msg/Image]"
+ "name" : "tf: /odom"
}
],
- "position" : [ 720, 1400 ],
- "size" : [ 400, 138 ],
- "uuid" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9"
+ "position" : [ -320, 1300 ],
+ "size" : [ 280, 180 ],
+ "uuid" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe"
},
{
"label" : "PAL",
- "name" : "fisheye",
+ "name" : "Robot functional layer",
"ports" : [
{
"direction" : "out",
- "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
+ "name" : "/joint_states"
+ },
+ {
+ "direction" : "in",
+ "name" : "input"
}
],
- "position" : [ 40, 800 ],
- "size" : [ 432, 120 ],
- "uuid" : "409d9526-77ed-4ee3-bae9-ab48381e0b28"
+ "position" : [ 6340, 1040 ],
+ "size" : [ 240, 120 ],
+ "uuid" : "20eb61ac-3243-41ed-b855-451cd88e4ae5"
},
{
- "label" : "BIU",
- "name" : "google_asr",
+ "label" : "PAL",
+ "name" : "people_facts",
"ports" : [
{
"direction" : "in",
- "name" : "/audio/postprocess_audio_streams [audio_common_msgs/AudioData]"
+ "name" : "/h/p/..."
},
{
"direction" : "out",
- "name" : "/audio/speech_streams -- array of hri_msgs/LiveSpeech"
+ "name" : "/kb/add_fact [std_msgs/String]"
}
],
- "position" : [ 2360, -40 ],
- "size" : [ 540, 138 ],
- "sub_architecture" : "11d2ee50-fd1e-4664-be3b-1a250ec7d758",
- "uuid" : "49998d33-7c64-4557-b1c9-56b241b59600"
+ "position" : [ 2480, 1200 ],
+ "size" : [ 240, 180 ],
+ "uuid" : "8dc55dfc-0215-44a1-9795-9255c328b198"
},
{
"label" : "PAL",
- "name" : "respeaker_ros",
+ "name" : "raspicam",
"ports" : [
{
"direction" : "out",
- "name" : "/audio/ego_audio [audio_common_msgs/AudioData]"
- },
- {
- "direction" : "out",
- "name" : "/audio/raw_audio [respeaker_ros/RawAudioData]"
+ "name" : "/head_front_camera/color/image_raw [sensor_msgs/Image]"
}
],
- "position" : [ 700, 340 ],
- "size" : [ 400, 120 ],
- "sub_architecture" : "b96ac6ba-08a0-4df0-8341-206c356f7c87",
- "uuid" : "3e7d7601-34c6-4975-9e36-f50968f141b2"
+ "position" : [ -2140, 1320 ],
+ "size" : [ 440, 120 ],
+ "uuid" : "a284bd3a-0273-4d81-89ce-bc8d042b2674"
},
{
- "label" : "UNITN",
- "name" : "soft_biometrics_estimator",
+ "label" : "INRIA",
+ "name" : "ros_mediapipe_node",
"ports" : [
+ {
+ "direction" : "in",
+ "name" : "/front_camera_basetation/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]"
+ },
{
"direction" : "out",
- "name" : "/h/f/*/softbiometrics [hri_msgs/Softbiometrics]"
+ "name" : "/tracked_pose_2df/image_raw/compressed"
+ },
+ {
+ "direction" : "out",
+ "name" : "/tracked_pose_2df/frame [openpose/Frame]"
},
{
"direction" : "in",
- "name" : "/h/f/*/roi [hri_msgs/RegionOfInterest]"
+ "name" : "/tracker/tracker_output [std_msgs/String]"
}
],
- "position" : [ 1480, 1460 ],
- "size" : [ 347, 120 ],
- "sub_architecture" : "970d1105-d292-4308-b90f-8d8005a781eb",
- "uuid" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e"
+ "position" : [ -580, 880 ],
+ "size" : [ 656, 170 ],
+ "sub_architecture" : "135fdc57-8361-4626-9761-96b08cf17259",
+ "uuid" : "b600af28-8f8a-4da9-89df-12b621f45244"
},
{
- "label" : "INRIA",
- "name" : "MOCK: ROS mediapipe/openpose",
+ "label" : "UNITN",
+ "name" : "MOCK: Non-verbal behaviours",
"ports" : [
{
"direction" : "in",
- "name" : "input"
+ "name" : "/h/v/*/raw_audio [spring_msgs/RawAudioData]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/h/f/*/roi [hri_msgs/RegionOfInterest]"
},
{
"direction" : "out",
- "name" : "output"
+ "name" : "/h/f/*/expression [hri_msgs/Expression]"
}
],
- "position" : [ 1480, 720 ],
- "size" : [ 300, 120 ],
- "sub_architecture" : "135fdc57-8361-4626-9761-96b08cf17259",
- "uuid" : "b600af28-8f8a-4da9-89df-12b621f45244"
+ "position" : [ 2600, 580 ],
+ "size" : [ 480, 180 ],
+ "uuid" : "e9861836-caed-4c19-87e2-13ba1a380613"
},
{
- "label" : "PAL",
- "name" : "Speech synthesis",
+ "label" : "HWU",
+ "name" : "alana_node",
"ports" : [
{
"direction" : "in",
- "name" : "speech [std_msgs/String]"
+ "name" : "/get_answer"
},
{
"direction" : "out",
- "name" : "/tts/feedback"
+ "name" : "/response"
}
],
- "position" : [ 4260, 940 ],
+ "position" : [ 3840, 340 ],
"size" : [ 280, 120 ],
- "uuid" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104"
+ "uuid" : "f845ee2c-4cb3-4cae-bde9-8ac2ba692ee7"
},
{
- "label" : "CVUT",
- "name" : "MOCK: Occupancy map",
+ "label" : "BIU",
+ "name" : "MOCK: sound source localisation",
"ports" : [
{
"direction" : "in",
- "name" : "dense 3d map"
+ "name" : "/audio/raw_audio [spring_msgs/RawAudioData]"
},
{
"direction" : "out",
- "name" : "/map_refined [nav_msgs/OccupancyGrid]"
- },
- {
- "direction" : "in",
- "name" : "TF (bodies)"
+ "name" : "/audio/audio_sources [spring_msgs/RawAudioData[]]"
}
],
- "position" : [ 1620, 2080 ],
- "size" : [ 440, 200 ],
- "uuid" : "b62de7f5-7899-48fd-a64d-3226e68bb21f"
+ "position" : [ 1380, 260 ],
+ "size" : [ 481, 200 ],
+ "uuid" : "48ed53a1-16b6-42b8-9c8f-6df5dce5b604"
},
{
"label" : "PAL",
@@ -1084,13 +1669,13 @@
"direction" : "out",
"name" : "/map [nav_msgs/OccupancyGrid]"
},
- {
- "direction" : "out",
- "name" : "tf: /odom"
- },
{
"direction" : "in",
"name" : "/camera_torso/color/image_raw [sensor_msgs/Image]"
+ },
+ {
+ "direction" : "out",
+ "name" : "tf: /odom"
}
],
"position" : [ 480, 2120 ],
@@ -1098,357 +1683,202 @@
"uuid" : "814e358a-b568-4082-99f3-4629d35e7f2e"
},
{
- "label" : "HWU",
- "name" : "robot_behaviour_plan_actions",
+ "label" : "UNITN",
+ "name" : "MOCK: User attention estimation",
"ports" : [
- {
- "direction" : "in",
- "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
- },
{
"direction" : "out",
- "name" : "interaction state"
- },
- {
- "direction" : "in",
- "name" : "TF (persons)"
- },
- {
- "direction" : "in",
- "name" : "semantic scene description"
+ "name" : "x,y + attention heatmap"
},
{
"direction" : "out",
- "name" : "output"
+ "name" : "tf: /face_id_gaze"
},
{
"direction" : "in",
- "name" : "dialogue state"
+ "name" : "TF (faces)"
},
{
- "direction" : "out",
- "name" : "nav goals"
+ "direction" : "in",
+ "name" : "/h/f/*/roi [hri_msgs/RegionOfInterest]"
}
],
- "position" : [ 3240, 1180 ],
- "size" : [ 400, 293 ],
- "sub_architecture" : "9ff15583-a3c7-439b-a578-91ea4afac364",
- "uuid" : "35d5af59-53e3-466c-874d-89131352c403"
+ "position" : [ 2980, 1940 ],
+ "size" : [ 398, 169 ],
+ "uuid" : "46e542fd-7a41-4d9a-b3fc-981a724bf538"
},
{
- "label" : "UNITN",
- "name" : "MOCK: Non-verbal behaviours",
+ "label" : "INRIA",
+ "name" : "front_fisheye_basestation_node",
"ports" : [
{
"direction" : "in",
- "name" : "/h/f/*/roi [hri_msgs/RegionOfInterest]"
+ "name" : "/head_front_camera/color/image_raw/compressed"
},
{
"direction" : "out",
- "name" : "/h/f/*/expression [hri_msgs/Expression]"
+ "name" : "/*_basestation/..."
},
{
"direction" : "in",
- "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
- }
- ],
- "position" : [ 3000, 1620 ],
- "size" : [ 480, 180 ],
- "uuid" : "e9861836-caed-4c19-87e2-13ba1a380613"
- },
- {
- "label" : "INRIA",
- "name" : "MOCK: People 3D tracker [position/orientation]",
- "ports" : [
- {
- "direction" : "in",
- "name" : "ground plane"
+ "name" : "/front_camera/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]"
},
{
"direction" : "in",
- "name" : "people RoIs"
- },
- {
- "direction" : "out",
- "name" : "tf: /body_id"
+ "name" : "/torso_front_camera/aligned_depth_to_color/image_raw/theora"
},
{
"direction" : "in",
- "name" : "feet position"
+ "name" : "/torso_front_camera/color/image_raw/theora"
}
],
- "position" : [ 2000, 800 ],
- "size" : [ 360, 180 ],
- "sub_architecture" : "6b0cec9a-b148-4d1d-b038-2986a289b7e6",
- "uuid" : "4071a411-0acc-401d-8bbb-bb47fdc00697"
+ "position" : [ -1540, 820 ],
+ "size" : [ 575.9375, 200 ],
+ "uuid" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3"
},
{
- "label" : "UNITN",
- "name" : "MOCK: Activity reco",
+ "label" : "BIU",
+ "name" : "MOCK: Voice speech matching",
"ports" : [
{
"direction" : "out",
- "name" : "[?] output"
+ "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
},
{
"direction" : "in",
- "name" : "TF (bodies)"
+ "name" : "/audio/speech_streams [std_msgs/String]"
},
{
"direction" : "in",
- "name" : "gaze direction"
+ "name" : "/h/v/*/raw_audio [spring_msgs/RawAudioData]"
}
],
- "position" : [ 3660, 1720 ],
- "size" : [ 280, 160 ],
- "uuid" : "d715b004-7177-4001-bd9d-725e87789c94"
+ "position" : [ 2800, 300 ],
+ "size" : [ 500, 160 ],
+ "uuid" : "fb3919be-ce33-4bf7-96c5-7a084bc5f115"
},
{
"label" : "UNITN",
- "name" : "DEPENDENCY: wp4_msgs",
- "position" : [ 660, 2720 ],
- "size" : [ 240, 120 ],
- "sub_architecture" : "af8592a3-f2de-4843-b29d-8868afac79be",
- "uuid" : "b84197a2-d5d2-42d1-942b-27383f14a278"
- },
- {
- "label" : "PAL",
- "name" : "Robot functional layer",
- "ports" : [
- {
- "direction" : "in",
- "name" : "input"
- }
- ],
- "position" : [ 4460, 1140 ],
- "size" : [ 240, 120 ],
- "uuid" : "20eb61ac-3243-41ed-b855-451cd88e4ae5"
- },
- {
- "label" : "CVUT",
- "name" : "MOCK: Semantic mapping [resources permitting]",
+ "name" : "mask_detector",
"ports" : [
{
"direction" : "out",
- "name" : "scene graph"
+ "name" : "/h/f/*/has_mask [std_msgs/Bool]"
},
{
"direction" : "in",
- "name" : "dense 3d map"
+ "name" : "/h/b/*/cropped [sensor_msg/Image]"
},
{
- "direction" : "in",
- "name" : "/detected_objects [spring_msgs/DetectedObjectArray]"
- }
- ],
- "position" : [ 1620, 1840 ],
- "size" : [ 440, 140 ],
- "uuid" : "dc52fa2f-b098-4f96-a830-eb329bcf282b"
- },
- {
- "label" : "UNITN",
- "name" : "MOCK: Depth estimation from monocular",
- "ports" : [
+ "direction" : "out",
+ "name" : "/humans/candidate_matches [hri_msgs/IdsMatch] [face <-> body]"
+ },
{
"direction" : "out",
- "name" : "depth"
+ "name" : "/h/f/*/cropped [sensor_msg/Image]"
},
{
- "direction" : "in",
- "name" : "input"
- }
- ],
- "position" : [ 2980, 2160 ],
- "size" : [ 340, 160 ],
- "uuid" : "633be9cd-9f1b-4cdd-b708-a1edd3742842"
- },
- {
- "label" : "PAL",
- "name" : "DEPENDENCY: spring_msgs",
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- "size" : [ 240, 120 ],
- "sub_architecture" : "754b3165-805d-469a-b604-4dfef5453911",
- "uuid" : "2e89a11f-a4b0-4b5e-8d72-975d8c47c7f7"
- },
- {
- "label" : "HWU",
- "name" : "DEPENDENCY: social_scene_msgs",
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- "size" : [ 280, 120 ],
- "sub_architecture" : "ed680a03-e715-423d-b567-001b19ca4840",
- "uuid" : "fdf1f034-d96a-4852-bb69-3934073e6708"
- },
- {
- "label" : "HWU",
- "name" : "social_scene_context_understanding",
- "ports" : [
+ "direction" : "out",
+ "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
+ },
{
"direction" : "out",
- "name" : "semantic description"
+ "name" : "/h/f/*/roi [sensor_msgs/RegionOfInterest]"
},
{
"direction" : "in",
- "name" : "scene graph"
- }
- ],
- "position" : [ 2280, 2000 ],
- "size" : [ 400, 120 ],
- "sub_architecture" : "05421051-4c03-42de-8bbb-0d0965e14f68",
- "uuid" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef"
- },
- {
- "label" : "HWU",
- "name" : "DEPENDENCY: audio_msgs",
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- "size" : [ 340, 120 ],
- "sub_architecture" : "88aec3fc-6d19-455e-96fc-303c6aaab831",
- "uuid" : "19d263e5-e380-457f-84ba-67b9a4b3ce0b"
- },
- {
- "label" : "PAL",
- "name" : "raspicam",
- "ports" : [
- {
- "direction" : "out",
- "name" : "/head_front_camera/color/image_raw [sensor_msgs/Image]"
+ "name" : "/humans/bodies/tracked [hri_msgs/IdsList]"
}
],
- "position" : [ 40, 1120 ],
- "size" : [ 440, 120 ],
- "uuid" : "a284bd3a-0273-4d81-89ce-bc8d042b2674"
+ "position" : [ 820, 880 ],
+ "size" : [ 465, 293 ],
+ "sub_architecture" : "b343b3de-f4eb-412c-ae93-fca0f090ee5d",
+ "uuid" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a"
},
{
"label" : "PAL",
- "name" : "torso_rgbd_camera",
+ "name" : "fisheye",
"ports" : [
{
"direction" : "out",
- "name" : "/torso_rgbd_camera/color/image_raw [sensor_msgs/Image]"
+ "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
}
],
- "position" : [ 40, 1920 ],
- "size" : [ 432, 120 ],
- "uuid" : "910781c7-928f-4445-a97b-6fbad208066f"
+ "position" : [ -2140, 900 ],
+ "size" : [ 432.421875, 120 ],
+ "uuid" : "409d9526-77ed-4ee3-bae9-ab48381e0b28"
},
{
- "label" : "UNITN",
- "name" : "MOCK: F-formation",
+ "label" : "HWU",
+ "name" : "dialogue_arbiter",
"ports" : [
- {
- "direction" : "out",
- "name" : "/h/i/groups [hri_msgs/Group]"
- },
{
"direction" : "in",
- "name" : "/h/i/gaze [hri_msgs/Gaze]"
+ "name" : "interaction messages"
},
{
"direction" : "in",
- "name" : "tf: /person_id"
- }
- ],
- "position" : [ 4000, 1940 ],
- "size" : [ 300, 160 ],
- "uuid" : "4a610776-d94b-4f35-9871-b835e8e0faf7"
- },
- {
- "label" : "BIU",
- "name" : "MOCK: Speaker identification",
- "ports" : [
- {
- "direction" : "in",
- "name" : "/audio/postprocess_audio_streams [audio_common_msgs/AudioData]"
+ "name" : "/eos"
},
{
- "direction" : "in",
- "name" : "tracking information"
+ "direction" : "out",
+ "name" : "next utterance"
},
{
"direction" : "out",
- "name" : "person_id_candidate [hri_msgs/IdsMatch]"
+ "name" : "DialogueState"
},
{
- "direction" : "out",
- "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
+ "direction" : "in",
+ "name" : "/dialogue_speech"
}
],
- "position" : [ 2360, 300 ],
- "size" : [ 502, 169 ],
- "sub_architecture" : "9387ee34-690d-4830-932c-7567cee820ef",
- "uuid" : "b70f5085-b32c-47de-b158-73fc4d83fb93"
+ "position" : [ 3800, 500 ],
+ "size" : [ 300, 200 ],
+ "sub_architecture" : "e2ee44b3-4f04-4a27-a947-525fae05035d",
+ "uuid" : "9ab39362-e233-44d2-9d06-dd24694446f2"
},
{
- "label" : "INRIA",
- "name" : "FairMOT Multi-people body tracker",
+ "label" : "HWU",
+ "name" : "dialogue_speech",
"ports" : [
{
"direction" : "out",
- "name" : "/h/b/*/cropped [sensor_msg/Image]"
+ "name" : "/eos"
},
{
"direction" : "in",
- "name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
+ "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
},
{
"direction" : "out",
- "name" : "/h/b/*/roi [sensor_msgs/RegionOfInterest"
+ "name" : "/dialogue_speech"
}
],
- "position" : [ 780, 980 ],
- "size" : [ 440, 138 ],
- "sub_architecture" : "d0367ed7-2b45-4244-9507-538e7767127f",
- "uuid" : "d609252f-2fd4-4439-86c3-ece9fd387a3a"
+ "position" : [ 3380, 360 ],
+ "size" : [ 300, 138 ],
+ "uuid" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3"
},
{
- "label" : "UNITN",
- "name" : "MOCK: User visual focus",
+ "label" : "HWU",
+ "name" : "google_translate",
"ports" : [
- {
- "direction" : "out",
- "name" : "/h/i/gaze [hri_msgs/Gaze]"
- },
{
"direction" : "in",
- "name" : "scene"
+ "name" : "/get_answer"
},
{
"direction" : "out",
- "name" : "who's looking at what?"
- },
- {
- "direction" : "in",
- "name" : "attention"
- },
- {
- "direction" : "in",
- "name" : "depth"
- },
- {
- "direction" : "in",
- "name" : "gaze direction"
+ "name" : "/response"
}
],
- "position" : [ 3620, 1980 ],
- "size" : [ 340, 231 ],
- "uuid" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5"
- },
- {
- "label" : "PAL",
- "name" : "DEPENDENCY: hri_msgs (copy)",
- "position" : [ 40, 2720 ],
- "size" : [ 8.910987908548953e+252, 1.0583234753545059e+189 ],
- "uuid" : "214cf6ad-1d6d-4036-a5cd-ff8d21031ca8"
- },
- {
- "label" : "CVUT",
- "name" : "DEPENDENCY: InLoc Server",
- "position" : [ 1040, 2340 ],
- "size" : [ 440, 120 ],
- "uuid" : "db2a580b-0dff-4309-a779-a211275824d8"
+ "position" : [ 3480, 580 ],
+ "size" : [ 160, 120 ],
+ "uuid" : "f21e6ef5-5274-4054-9411-c15bd7562fb6"
}
],
"uuid" : "234f40f3-f9bb-4d69-8121-aec26ac8c228",
- "version" : "0.5.0"
+ "version" : "1.0.0"
}
],
"root" : "234f40f3-f9bb-4d69-8121-aec26ac8c228"
diff --git a/doc/architecture-boxology.jpg b/doc/architecture-boxology.jpg
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diff --git a/doc/architecture-boxology.png b/doc/architecture-boxology.png
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