diff --git a/spring-mock-ws/fetch_released_nodes.sh b/spring-mock-ws/fetch_released_nodes.sh
index 9cc7a898911d7ccc7530005deb4e81fe4b1a9a75..a1b55ebc09271510c9c1768f500d789da3726812 100644
--- a/spring-mock-ws/fetch_released_nodes.sh
+++ b/spring-mock-ws/fetch_released_nodes.sh
@@ -3,30 +3,50 @@
# This script clone all the SPRING ROS nodes that are marked as released in the
# architecture design.
-if cd src/hri_msgs;
-then
- echo "hri_msgs: pulling latest changes from 0.1.1...";
- git pull origin 0.1.1;
-else
-
- echo "Cloning hri_msgs (ROS node: hri_msgs), branch: 0.1.1 to src/ ..."
- git clone --depth 1 --branch 0.1.1 git@gitlab:ros4hri/hri_msgs.git src/hri_msgs;
+
+NODE_PATH=src/hri_msgs
+if [ -d "$NODE_PATH" ]; then
+ rm -rf $NODE_PATH;
+fi
+cd $NODE_PATH
+echo "Cloning hri_msgs (ROS node: hri_msgs), branch: 0.1.1 to src/ ..."
+git clone --depth 1 --branch 0.1.1 git@gitlab:ros4hri/hri_msgs.git src/hri_msgs
+
+NODE_PATH=src/respeaker_ros
+if [ -d "$NODE_PATH" ]; then
+ rm -rf $NODE_PATH;
+fi
+cd $NODE_PATH
+echo "Cloning respeaker_ros (ROS node: respeaker_ros), branch: master to src/ ..."
+git clone --depth 1 --branch master git@gitlab.inria.fr:spring/wp7_ari/respeaker_ros.git src/respeaker_ros
+
+NODE_PATH=src/audio_processing
+if [ -d "$NODE_PATH" ]; then
+ rm -rf $NODE_PATH;
fi
-if cd src/spring_msgs;
-then
- echo "spring_msgs: pulling latest changes from 0.0.2...";
- git pull origin 0.0.2;
-else
-
- echo "Cloning spring_msgs (ROS node: spring_msgs), branch: 0.0.2 to src/ ..."
- git clone --depth 1 --branch 0.0.2 git@gitlab.inria.fr:spring/wp7_ari/spring_msgs.git src/spring_msgs;
+cd $NODE_PATH
+echo "Cloning audio_processing (ROS node: audio_processing), branch: BIU_dev to /tmp ..."
+rm -rf /tmp/audio_processing
+git clone --depth 1 --branch BIU_dev https://gitlab.inria.fr/spring/wp5_spoken_conversations/asr /tmp/audio_processing
+echo "Copying subfolder audio_processing to src/ ..."
+cp -R /tmp/audio_processing/audio_processing src/audio_processing
+
+NODE_PATH=src/google_asr
+if [ -d "$NODE_PATH" ]; then
+ rm -rf $NODE_PATH;
fi
-if cd src/respeaker_ros;
-then
- echo "respeaker_ros: pulling latest changes from master...";
- git pull origin master;
-else
-
- echo "Cloning respeaker_ros (ROS node: respeaker_ros), branch: master to src/ ..."
- git clone --depth 1 --branch master git@gitlab.inria.fr:spring/wp7_ari/respeaker_ros.git BIN:respeaker_multichan_node.py src/respeaker_ros;
+cd $NODE_PATH
+echo "Cloning google_asr (ROS node: google_asr), branch: BIU_dev to /tmp ..."
+rm -rf /tmp/google_asr
+git clone --depth 1 --branch BIU_dev https://gitlab.inria.fr/spring/wp5_spoken_conversations/asr /tmp/google_asr
+echo "Copying subfolder google_asr/google_asr to src/ ..."
+cp -R /tmp/google_asr/google_asr/google_asr src/google_asr
+
+NODE_PATH=src/spring_msgs
+if [ -d "$NODE_PATH" ]; then
+ rm -rf $NODE_PATH;
fi
+cd $NODE_PATH
+echo "Cloning spring_msgs (ROS node: spring_msgs), branch: 0.0.2 to src/ ..."
+git clone --depth 1 --branch 0.0.2 git@gitlab.inria.fr:spring/wp7_ari/spring_msgs.git src/spring_msgs
+
diff --git a/spring-mock-ws/src/activityreco/package.xml b/spring-mock-ws/src/activityreco/package.xml
index 0d5b1a01bd28c25ef322834f53779098de436fb1..893fffd20c9e97a91eaafc33ed34aa0e507dc2b3 100644
--- a/spring-mock-ws/src/activityreco/package.xml
+++ b/spring-mock-ws/src/activityreco/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>activityreco</name>
<version>1.0.0</version>
- <description>Activity reco (UNITN) . Auto-generated by Boxology 1.3.2.</description>
+ <description>Activity reco (UNITN) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/activityreco/src/main.cpp b/spring-mock-ws/src/activityreco/src/main.cpp
index c887305b7c243b477866e9d90cd8e5e78dafce1e..a6ea5919430fa54ad7fb41da1f18be1eba9ae6a6 100644
--- a/spring-mock-ws/src/activityreco/src/main.cpp
+++ b/spring-mock-ws/src/activityreco/src/main.cpp
@@ -29,10 +29,10 @@ class ActivityReco {
public:
ActivityReco(ros::NodeHandle* nh) {
- // ATTENTION: this topic is not defined in the architecture design
- gazedirection_sub_ = nh->subscribe("gazedirection", 1, &ActivityReco::gazedirectionCallback, this);
// ATTENTION: this topic is not defined in the architecture design
tfbodies_sub_ = nh->subscribe("tfbodies", 1, &ActivityReco::tfbodiesCallback, this);
+ // ATTENTION: this topic is not defined in the architecture design
+ gazedirection_sub_ = nh->subscribe("gazedirection", 1, &ActivityReco::gazedirectionCallback, this);
// ATTENTION: this topic is not defined in the architecture design
output_pub_ = nh->advertise<std_msgs::Empty>("output", 1);
@@ -41,17 +41,17 @@ class ActivityReco {
~ActivityReco() {}
private:
- void gazedirectionCallback(const std_msgs::Empty::ConstPtr& msg)
+ void tfbodiesCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("activityreco: received message: " << msg);
}
- void tfbodiesCallback(const std_msgs::Empty::ConstPtr& msg)
+ void gazedirectionCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("activityreco: received message: " << msg);
}
- ros::Subscriber gazedirection_sub_;
ros::Subscriber tfbodies_sub_;
+ ros::Subscriber gazedirection_sub_;
ros::Publisher output_pub_;
diff --git a/spring-mock-ws/src/asr/CMakeLists.txt b/spring-mock-ws/src/asr/CMakeLists.txt
deleted file mode 100644
index 9a26ab658b7d6f1db84ab180c4b28efbf724fed3..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/asr/CMakeLists.txt
+++ /dev/null
@@ -1,204 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(asr)
-
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
- roscpp
- audio_common_msgs
- std_msgs
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-## * add a build_depend tag for "message_generation"
-## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-## but can be declared for certainty nonetheless:
-## * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-## * add "message_generation" and every package in MSG_DEP_SET to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * add "message_runtime" and every package in MSG_DEP_SET to
-## catkin_package(CATKIN_DEPENDS ...)
-## * uncomment the add_*_files sections below as needed
-## and list every .msg/.srv/.action file to be processed
-## * uncomment the generate_messages entry below
-## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-# FILES
-# Message1.msg
-# Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-# FILES
-# Service1.srv
-# Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-# FILES
-# Action1.action
-# Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-# DEPENDENCIES
-# std_msgs # Or other packages containing msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-## * add "dynamic_reconfigure" to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * uncomment the "generate_dynamic_reconfigure_options" section below
-## and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-# cfg/DynReconf1.cfg
-# cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-# INCLUDE_DIRS include
-# LIBRARIES asr
-# CATKIN_DEPENDS roscpp
-# DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(include)
-include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-# src/${PROJECT_NAME}/asr.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-add_executable(${PROJECT_NAME}_node src/main.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-target_link_libraries(${PROJECT_NAME}_node
- ${catkin_LIBRARIES}
-)
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# catkin_install_python(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-install(TARGETS ${PROJECT_NAME}_node
- RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-# FILES_MATCHING PATTERN "*.h"
-# PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-# # myfile1
-# # myfile2
-# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_asr.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
diff --git a/spring-mock-ws/src/asr/package.xml b/spring-mock-ws/src/asr/package.xml
deleted file mode 100644
index f9e396a2287904fef773701e03a9a9d8aa568f2e..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/asr/package.xml
+++ /dev/null
@@ -1,59 +0,0 @@
-<?xml version="1.0"?>
-<package format="3">
- <name>asr</name>
- <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: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
- <maintainer email="todo@example.com">TODO</maintainer>
-
- <!-- One license tag required, multiple allowed, one license per tag -->
- <!-- Commonly used license strings: -->
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
- <license>BSD</license>
-
-
-
- <!-- Url tags are optional, but multiple are allowed, one per tag -->
- <!-- Optional attribute type can be: website, bugtracker, or repository -->
- <!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/NAME</url> -->
-
-
- <!-- Author tags are optional, multiple are allowed, one per tag -->
- <!-- Authors do not have to be maintainers, but could be -->
- <!-- Example: -->
- <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-
-
- <!-- The *depend tags are used to specify dependencies -->
- <!-- Dependencies can be catkin packages or system dependencies -->
- <!-- Examples: -->
- <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
- <!-- <depend>roscpp</depend> -->
- <!-- Note that this is equivalent to the following: -->
- <!-- <build_depend>roscpp</build_depend> -->
- <!-- <exec_depend>roscpp</exec_depend> -->
- <!-- Use build_depend for packages you need at compile time: -->
- <!-- <build_depend>message_generation</build_depend> -->
- <!-- Use build_export_depend for packages you need in order to build against this package: -->
- <!-- <build_export_depend>message_generation</build_export_depend> -->
- <!-- Use buildtool_depend for build tool packages: -->
- <!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use exec_depend for packages you need at runtime: -->
- <!-- <exec_depend>message_runtime</exec_depend> -->
- <!-- Use test_depend for packages you need only for testing: -->
- <!-- <test_depend>gtest</test_depend> -->
- <!-- Use doc_depend for packages you need only for building documentation: -->
- <!-- <doc_depend>doxygen</doc_depend> -->
- <buildtool_depend>catkin</buildtool_depend>
- <exec_depend>roscpp</exec_depend>
- <depend>audio_common_msgs</depend>
- <depend>std_msgs</depend>
-
- <export>
-
- </export>
-</package>
diff --git a/spring-mock-ws/src/asr/src/main.cpp b/spring-mock-ws/src/asr/src/main.cpp
deleted file mode 100644
index a6f53b672b31ea401a56c63fcca111be8cb2b61f..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/asr/src/main.cpp
+++ /dev/null
@@ -1,66 +0,0 @@
-/*
- Copyright 2021-2025, SPRING Consortium
-
- Permission is hereby granted, free of charge, to any person obtaining a copy
- of this software and associated documentation files (the "Software"), to deal
- in the Software without restriction, including without limitation the rights
- to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in all
- copies or substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- SOFTWARE.
-*/
-
-
-#include "ros/ros.h"
-#include "std_msgs/String.h"
-#include "std_msgs/Empty.h"
-#include "audio_common_msgs/AudioData.h"
-
-class Asr {
- public:
- Asr(ros::NodeHandle* nh) {
-
- postprocess_audio_streams_sub_ = nh->subscribe("postprocess_audio_streams", 1, &Asr::postprocess_audio_streamsCallback, this);
-
- // ATTENTION: this topic is not defined in the architecture design
- audiospeech_streamsarrayofstd_msgsstring_pub_ = nh->advertise<std_msgs::Empty>("audiospeech_streamsarrayofstd_msgsstring", 1);
- }
-
- ~Asr() {}
-
- private:
- void postprocess_audio_streamsCallback(const audio_common_msgs::AudioData::ConstPtr& msg)
- {
- ROS_INFO_STREAM("asr: received message: " << msg);
- }
-
- ros::Subscriber postprocess_audio_streams_sub_;
-
- ros::Publisher audiospeech_streamsarrayofstd_msgsstring_pub_;
-
-};
-
-int main(int argc, char** argv) {
- ros::init(argc, argv, "asr");
-
- // Initialize node parameters from launch file or command line.
- // Use a private node handle so that multiple instances of the node can be
- // run simultaneously while using different parameters.
- ros::NodeHandle private_node_handle_("~");
-
- auto asr = Asr(&private_node_handle_);
-
- ROS_INFO("Node asr launched and ready.");
- ros::spin();
- return 0;
-}
diff --git a/spring-mock-ws/src/body2dpose/package.xml b/spring-mock-ws/src/body2dpose/package.xml
index 20924c2eb99af0147776d668468e0e48f4bdbc2f..d99fd1c24e7b449691267955fc4726b1f49170af 100644
--- a/spring-mock-ws/src/body2dpose/package.xml
+++ b/spring-mock-ws/src/body2dpose/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>body2dpose</name>
<version>1.0.0</version>
- <description>Body 2D pose (UNITN) . Auto-generated by Boxology 1.3.2.</description>
+ <description>Body 2D pose (UNITN) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/body2dpose/src/main.cpp b/spring-mock-ws/src/body2dpose/src/main.cpp
index 1328cf6412aa2cbf97b5a0345d711a9c50649569..6fc66562f639491ed50b6aab5608b307e0418dd9 100644
--- a/spring-mock-ws/src/body2dpose/src/main.cpp
+++ b/spring-mock-ws/src/body2dpose/src/main.cpp
@@ -24,15 +24,15 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "hri_msgs/Skeleton2D.h"
-#include "hri_msgs/RegionOfInterestStamped.h"
#include "sensor_msgs/Image.h"
+#include "hri_msgs/RegionOfInterestStamped.h"
class Body2dPose {
public:
Body2dPose(ros::NodeHandle* nh) {
- body_roi_sub_ = nh->subscribe("body_roi", 1, &Body2dPose::body_roiCallback, this);
image_raw_sub_ = nh->subscribe("image_raw", 1, &Body2dPose::image_rawCallback, this);
+ body_roi_sub_ = nh->subscribe("body_roi", 1, &Body2dPose::body_roiCallback, this);
body_skeleton2d_pub_ = nh->advertise<hri_msgs::Skeleton2D>("body_skeleton2d", 1);
}
@@ -40,17 +40,17 @@ class Body2dPose {
~Body2dPose() {}
private:
- void body_roiCallback(const hri_msgs::RegionOfInterestStamped::ConstPtr& msg)
+ void image_rawCallback(const sensor_msgs::Image::ConstPtr& msg)
{
ROS_INFO_STREAM("body2dpose: received message: " << msg);
}
- void image_rawCallback(const sensor_msgs::Image::ConstPtr& msg)
+ void body_roiCallback(const hri_msgs::RegionOfInterestStamped::ConstPtr& msg)
{
ROS_INFO_STREAM("body2dpose: received message: " << msg);
}
- ros::Subscriber body_roi_sub_;
ros::Subscriber image_raw_sub_;
+ ros::Subscriber body_roi_sub_;
ros::Publisher body_skeleton2d_pub_;
diff --git a/spring-mock-ws/src/depthestimationfrommonocular/package.xml b/spring-mock-ws/src/depthestimationfrommonocular/package.xml
index 9a3c8789faa829b4a14dc6c433be071cdc9936ea..b7c2d59fa5aedc07d2cf84863727e71303a57b4f 100644
--- a/spring-mock-ws/src/depthestimationfrommonocular/package.xml
+++ b/spring-mock-ws/src/depthestimationfrommonocular/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>depthestimationfrommonocular</name>
<version>1.0.0</version>
- <description>Depth estimation from monocular (UNITN) . Auto-generated by Boxology 1.3.2.</description>
+ <description>Depth estimation from monocular (UNITN) . Auto-generated by Boxology 1.3.3.</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 90d30841c2a8a1dd9e2e5d69245cc56b05d8feb3..691b8e94223813a88741abc009ea037d4d0f6d10 100644
--- a/spring-mock-ws/src/dialoguearbiter/package.xml
+++ b/spring-mock-ws/src/dialoguearbiter/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>dialoguearbiter</name>
<version>1.0.0</version>
- <description>dialogue arbiter (HWU) . Auto-generated by Boxology 1.3.2.</description>
+ <description>dialogue arbiter (HWU) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/dialoguearbiter/src/main.cpp b/spring-mock-ws/src/dialoguearbiter/src/main.cpp
index 1673c1d4f604ad7e6e160d49c63ab86438b94d13..9a7dbc10bc54497ac32443b8d0c13639196fc86f 100644
--- a/spring-mock-ws/src/dialoguearbiter/src/main.cpp
+++ b/spring-mock-ws/src/dialoguearbiter/src/main.cpp
@@ -30,33 +30,33 @@ class DialogueArbiter {
public:
DialogueArbiter(ros::NodeHandle* nh) {
+ voice_speech_sub_ = nh->subscribe("voice_speech", 1, &DialogueArbiter::voice_speechCallback, this);
// ATTENTION: this topic is not defined in the architecture design
interactionmessages_sub_ = nh->subscribe("interactionmessages", 1, &DialogueArbiter::interactionmessagesCallback, this);
- voice_speech_sub_ = nh->subscribe("voice_speech", 1, &DialogueArbiter::voice_speechCallback, this);
- // ATTENTION: this topic is not defined in the architecture design
- dialoguestate_pub_ = nh->advertise<std_msgs::Empty>("dialoguestate", 1);
// ATTENTION: this topic is not defined in the architecture design
nextutterance_pub_ = nh->advertise<std_msgs::Empty>("nextutterance", 1);
+ // ATTENTION: this topic is not defined in the architecture design
+ dialoguestate_pub_ = nh->advertise<std_msgs::Empty>("dialoguestate", 1);
}
~DialogueArbiter() {}
private:
- void interactionmessagesCallback(const std_msgs::Empty::ConstPtr& msg)
+ void voice_speechCallback(const std_msgs::String::ConstPtr& msg)
{
ROS_INFO_STREAM("dialoguearbiter: received message: " << msg);
}
- void voice_speechCallback(const std_msgs::String::ConstPtr& msg)
+ void interactionmessagesCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("dialoguearbiter: received message: " << msg);
}
- ros::Subscriber interactionmessages_sub_;
ros::Subscriber voice_speech_sub_;
+ ros::Subscriber interactionmessages_sub_;
- ros::Publisher dialoguestate_pub_;
ros::Publisher nextutterance_pub_;
+ ros::Publisher dialoguestate_pub_;
};
diff --git a/spring-mock-ws/src/facedetection/package.xml b/spring-mock-ws/src/facedetection/package.xml
index dfcfb47a1b1785868216b8d704a7a9afe504bb65..7e47f3fec8282319898150168a8a0ed352dc9b71 100644
--- a/spring-mock-ws/src/facedetection/package.xml
+++ b/spring-mock-ws/src/facedetection/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>facedetection</name>
<version>1.0.0</version>
- <description>Face detection (UNITN) . Auto-generated by Boxology 1.3.2.</description>
+ <description>Face detection (UNITN) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/fformation/package.xml b/spring-mock-ws/src/fformation/package.xml
index 8f5e9eb259d5a837b2a180b5d1e86b990316904b..b0765d6d59c550f4110d5a9d28aaa428516e998a 100644
--- a/spring-mock-ws/src/fformation/package.xml
+++ b/spring-mock-ws/src/fformation/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>fformation</name>
<version>1.0.0</version>
- <description>F-formation (UNITN) . Auto-generated by Boxology 1.3.2.</description>
+ <description>F-formation (UNITN) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/fisheye/package.xml b/spring-mock-ws/src/fisheye/package.xml
index 091b9039a79de4f273292f2c153e1cbce496cd69..a56ff9438ebb341e331c67dc2f79cf96bc7d8296 100644
--- a/spring-mock-ws/src/fisheye/package.xml
+++ b/spring-mock-ws/src/fisheye/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>fisheye</name>
<version>1.0.0</version>
- <description>Fisheye (PAL) . Auto-generated by Boxology 1.3.2.</description>
+ <description>Fisheye (PAL) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/hri_fullbody/package.xml b/spring-mock-ws/src/hri_fullbody/package.xml
index ce7e1c2d92332bc7d3af4a49bf185ead7ab1a7ca..a64d1c551798c0311e969274cd45a564c5c86876 100644
--- a/spring-mock-ws/src/hri_fullbody/package.xml
+++ b/spring-mock-ws/src/hri_fullbody/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>hri_fullbody</name>
<version>1.0.0</version>
- <description>hri_fullbody (PAL) . Auto-generated by Boxology 1.3.2.</description>
+ <description>hri_fullbody (PAL) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/hri_fullbody/src/main.cpp b/spring-mock-ws/src/hri_fullbody/src/main.cpp
index 49e35265f4e913dcfc05c3726be9581990e9fd13..d1d6f596ee23d632dcd45e55a7dcb7fcd3c6bbc5 100644
--- a/spring-mock-ws/src/hri_fullbody/src/main.cpp
+++ b/spring-mock-ws/src/hri_fullbody/src/main.cpp
@@ -24,9 +24,9 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "tf/transform_broadcaster.h"
-#include "hri_msgs/Skeleton2D.h"
#include "sensor_msgs/Image.h"
#include "hri_msgs/RegionOfInterestStamped.h"
+#include "hri_msgs/Skeleton2D.h"
class Hri_fullbody {
public:
@@ -35,8 +35,8 @@ class Hri_fullbody {
image_raw_sub_ = nh->subscribe("image_raw", 1, &Hri_fullbody::image_rawCallback, this);
body_roi_sub_ = nh->subscribe("body_roi", 1, &Hri_fullbody::body_roiCallback, this);
- body_skeleton2d_pub_ = nh->advertise<hri_msgs::Skeleton2D>("body_skeleton2d", 1);
face_roi_pub_ = nh->advertise<hri_msgs::RegionOfInterestStamped>("face_roi", 1);
+ body_skeleton2d_pub_ = nh->advertise<hri_msgs::Skeleton2D>("body_skeleton2d", 1);
}
~Hri_fullbody() {}
@@ -54,8 +54,8 @@ class Hri_fullbody {
ros::Subscriber image_raw_sub_;
ros::Subscriber body_roi_sub_;
- ros::Publisher body_skeleton2d_pub_;
ros::Publisher face_roi_pub_;
+ ros::Publisher body_skeleton2d_pub_;
};
diff --git a/spring-mock-ws/src/interaction_manager/package.xml b/spring-mock-ws/src/interaction_manager/package.xml
index e93aca905feb851cb82cf879d18584c54c5b0020..c1a23dd5917aca63da705bfd63906f7875091a14 100644
--- a/spring-mock-ws/src/interaction_manager/package.xml
+++ b/spring-mock-ws/src/interaction_manager/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>interaction_manager</name>
<version>1.0.0</version>
- <description>interaction_manager (HWU) . Auto-generated by Boxology 1.3.2.</description>
+ <description>interaction_manager (HWU) . Auto-generated by Boxology 1.3.3.</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 cb00fabb7d65d4ec1d5d29a9acde18470cfe3889..19c89a5d59f495596346d0b77949de932d101b26 100644
--- a/spring-mock-ws/src/interaction_manager/src/main.cpp
+++ b/spring-mock-ws/src/interaction_manager/src/main.cpp
@@ -42,8 +42,6 @@ class Interaction_manager {
// 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);
// ATTENTION: this topic is not defined in the architecture design
whotolookat_pub_ = nh->advertise<std_msgs::Empty>("whotolookat", 1);
// ATTENTION: this topic is not defined in the architecture design
@@ -51,6 +49,8 @@ class Interaction_manager {
// ATTENTION: this topic is not defined in the architecture design
navgoals_pub_ = nh->advertise<std_msgs::Empty>("navgoals", 1);
// ATTENTION: this topic is not defined in the architecture design
+ gestures_pub_ = nh->advertise<std_msgs::Empty>("gestures", 1);
+ // ATTENTION: this topic is not defined in the architecture design
activepersonid_pub_ = nh->advertise<std_msgs::Empty>("activepersonid", 1);
}
@@ -89,10 +89,10 @@ class Interaction_manager {
ros::Subscriber tf_sub_;
ros::Subscriber hppersonid_sub_;
- ros::Publisher gestures_pub_;
ros::Publisher whotolookat_pub_;
ros::Publisher verbalcommand_pub_;
ros::Publisher navgoals_pub_;
+ ros::Publisher gestures_pub_;
ros::Publisher activepersonid_pub_;
};
diff --git a/spring-mock-ws/src/maskdetection/package.xml b/spring-mock-ws/src/maskdetection/package.xml
index 16911fea923bc7398ae14fa5f9a7772535b599d3..544d45e8f4952544846c4ab8ef1a1db5ac3fc17b 100644
--- a/spring-mock-ws/src/maskdetection/package.xml
+++ b/spring-mock-ws/src/maskdetection/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>maskdetection</name>
<version>1.0.0</version>
- <description>Mask detection (UNITN) . Auto-generated by Boxology 1.3.2.</description>
+ <description>Mask detection (UNITN) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/multipeoplebodytracker/package.xml b/spring-mock-ws/src/multipeoplebodytracker/package.xml
index b1ecc3d8791a05af3efc629954740006a65b3196..52103b50f4982e203d79b9b46b525517660707ef 100644
--- a/spring-mock-ws/src/multipeoplebodytracker/package.xml
+++ b/spring-mock-ws/src/multipeoplebodytracker/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>multipeoplebodytracker</name>
<version>1.0.0</version>
- <description>Multi-people body tracker (INRIA) . Auto-generated by Boxology 1.3.2.</description>
+ <description>Multi-people body tracker (INRIA) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/nonverbalbehaviours/package.xml b/spring-mock-ws/src/nonverbalbehaviours/package.xml
index c2599da29de9fd8db69c8c7b9ac885162b902541..ef0c3eb9c96c0b2e892d4f2ed394935c553601c0 100644
--- a/spring-mock-ws/src/nonverbalbehaviours/package.xml
+++ b/spring-mock-ws/src/nonverbalbehaviours/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>nonverbalbehaviours</name>
<version>1.0.0</version>
- <description>Non-verbal behaviours (UNITN) . Auto-generated by Boxology 1.3.2.</description>
+ <description>Non-verbal behaviours (UNITN) . Auto-generated by Boxology 1.3.3.</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 abab5666947a5d944cafd92a5d8473f40bf22fd7..879c79ebcc48bf22bb58e47be75207ba3ddde8f7 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 "audio_common_msgs/AudioData.h"
#include "hri_msgs/RegionOfInterestStamped.h"
+#include "audio_common_msgs/AudioData.h"
class NonverbalBehaviours {
public:
NonverbalBehaviours(ros::NodeHandle* nh) {
- voice_audio_sub_ = nh->subscribe("voice_audio", 1, &NonverbalBehaviours::voice_audioCallback, this);
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_expression_pub_ = nh->advertise<hri_msgs::Expression>("face_expression", 1);
}
@@ -40,17 +40,17 @@ class NonverbalBehaviours {
~NonverbalBehaviours() {}
private:
- 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);
}
- 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);
}
- ros::Subscriber voice_audio_sub_;
ros::Subscriber face_roi_sub_;
+ ros::Subscriber voice_audio_sub_;
ros::Publisher face_expression_pub_;
diff --git a/spring-mock-ws/src/objectdetectionidentificationlocalisation/package.xml b/spring-mock-ws/src/objectdetectionidentificationlocalisation/package.xml
index 5181682fd00fce3ebf4565db5ba5d01aab4fbe30..e09476f5cdd4223536df3388d185dac78733e990 100644
--- a/spring-mock-ws/src/objectdetectionidentificationlocalisation/package.xml
+++ b/spring-mock-ws/src/objectdetectionidentificationlocalisation/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>objectdetectionidentificationlocalisation</name>
<version>1.0.0</version>
- <description>Object detection/identification/localisation (CVUT) . Auto-generated by Boxology 1.3.2.</description>
+ <description>Object detection/identification/localisation (CVUT) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/objectdetectionidentificationlocalisation/src/main.cpp b/spring-mock-ws/src/objectdetectionidentificationlocalisation/src/main.cpp
index dfcb497ecfe8bc4fb58d3ea3a32f8077cd38cbac..f48bff11eff4ee88eacd9ac38b008a8d9aa346e0 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 "sensor_msgs/Image.h"
#include "spring_msgs/DetectedObjectArray.h"
+#include "sensor_msgs/Image.h"
class ObjectDetectionidentificationlocalisation {
public:
diff --git a/spring-mock-ws/src/occupancymap/package.xml b/spring-mock-ws/src/occupancymap/package.xml
index 86ed4692feb3e33db40091086e70e769de3ff19e..152a1676fe6278af4c3ee138433850200c3f16e7 100644
--- a/spring-mock-ws/src/occupancymap/package.xml
+++ b/spring-mock-ws/src/occupancymap/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>occupancymap</name>
<version>1.0.0</version>
- <description>Occupancy map (CVUT) . Auto-generated by Boxology 1.3.2.</description>
+ <description>Occupancy map (CVUT) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/orbslam/package.xml b/spring-mock-ws/src/orbslam/package.xml
index 990065fea483ec2b2d577d1fc566b0d7e4dde49b..f652b0e53ecf40e44f42677f996ad64597c6662e 100644
--- a/spring-mock-ws/src/orbslam/package.xml
+++ b/spring-mock-ws/src/orbslam/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>orbslam</name>
<version>1.0.0</version>
- <description>ORB SLAM (PAL) . Auto-generated by Boxology 1.3.2.</description>
+ <description>ORB SLAM (PAL) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/orbslam/src/main.cpp b/spring-mock-ws/src/orbslam/src/main.cpp
index cd6437fa2713c79b719b7bcc9400bc9ed7638dc9..e4aa7407ed810261686057fd7360c66581205ece 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 "tf/transform_broadcaster.h"
+#include "sensor_msgs/Image.h"
class OrbSlam {
public:
diff --git a/spring-mock-ws/src/people3dtracker/package.xml b/spring-mock-ws/src/people3dtracker/package.xml
index 9ef8562138c0394f61d22990e0cae37b1c7e197e..4dfdb8c65d96a507e38f7e3d82e186c1981536b4 100644
--- a/spring-mock-ws/src/people3dtracker/package.xml
+++ b/spring-mock-ws/src/people3dtracker/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>people3dtracker</name>
<version>1.0.0</version>
- <description>People 3D tracker (INRIA) . Auto-generated by Boxology 1.3.2.</description>
+ <description>People 3D tracker (INRIA) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/people3dtracker/src/main.cpp b/spring-mock-ws/src/people3dtracker/src/main.cpp
index 4718fea8f3107abaadb295f4cbe75ee6823376d3..793b9cb8ff29ac987f0a65751f8f79e6ad2c6634 100644
--- a/spring-mock-ws/src/people3dtracker/src/main.cpp
+++ b/spring-mock-ws/src/people3dtracker/src/main.cpp
@@ -30,34 +30,34 @@ class People3dTracker {
public:
People3dTracker(ros::NodeHandle* nh) {
+ // ATTENTION: this topic is not defined in the architecture design
+ groundplane_sub_ = nh->subscribe("groundplane", 1, &People3dTracker::groundplaneCallback, this);
// ATTENTION: this topic is not defined in the architecture design
feetposition_sub_ = nh->subscribe("feetposition", 1, &People3dTracker::feetpositionCallback, this);
// ATTENTION: this topic is not defined in the architecture design
peoplerois_sub_ = nh->subscribe("peoplerois", 1, &People3dTracker::peopleroisCallback, this);
- // ATTENTION: this topic is not defined in the architecture design
- groundplane_sub_ = nh->subscribe("groundplane", 1, &People3dTracker::groundplaneCallback, this);
}
~People3dTracker() {}
private:
- void feetpositionCallback(const std_msgs::Empty::ConstPtr& msg)
+ void groundplaneCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("people3dtracker: received message: " << msg);
}
- void peopleroisCallback(const std_msgs::Empty::ConstPtr& msg)
+ void feetpositionCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("people3dtracker: received message: " << msg);
}
- void groundplaneCallback(const std_msgs::Empty::ConstPtr& msg)
+ void peopleroisCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("people3dtracker: received message: " << msg);
}
+ ros::Subscriber groundplane_sub_;
ros::Subscriber feetposition_sub_;
ros::Subscriber peoplerois_sub_;
- ros::Subscriber groundplane_sub_;
};
diff --git a/spring-mock-ws/src/personmanager/package.xml b/spring-mock-ws/src/personmanager/package.xml
index 7a2d7e26131d99f8d135fc9d54a75f4de2d1d0d6..887250fabf74c37a765236d80d9a4863dd2e2673 100644
--- a/spring-mock-ws/src/personmanager/package.xml
+++ b/spring-mock-ws/src/personmanager/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>personmanager</name>
<version>1.0.0</version>
- <description>Person manager (INRIA) . Auto-generated by Boxology 1.3.2.</description>
+ <description>Person manager (INRIA) . Auto-generated by Boxology 1.3.3.</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 4fc64565c6fe12e5804485cee78026c46ad570da..254446993ba35881e0628f23b8c9939831fed83a 100644
--- a/spring-mock-ws/src/personmanager/src/main.cpp
+++ b/spring-mock-ws/src/personmanager/src/main.cpp
@@ -25,31 +25,31 @@
#include "std_msgs/String.h"
#include "std_msgs/String.h"
#include "tf/transform_broadcaster.h"
-#include "std_msgs/Empty.h"
#include "hri_msgs/AgeAndGender.h"
+#include "std_msgs/Empty.h"
class PersonManager {
public:
PersonManager(ros::NodeHandle* nh) {
- // ATTENTION: this topic is not defined in the architecture design
- tfvoices_sub_ = nh->subscribe("tfvoices", 1, &PersonManager::tfvoicesCallback, this);
+ face_demographics_sub_ = nh->subscribe("face_demographics", 1, &PersonManager::face_demographicsCallback, this);
// ATTENTION: this topic is not defined in the architecture design
tffaces_sub_ = nh->subscribe("tffaces", 1, &PersonManager::tffacesCallback, this);
// ATTENTION: this topic is not defined in the architecture design
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);
+ // ATTENTION: this topic is not defined in the architecture design
+ tfvoices_sub_ = nh->subscribe("tfvoices", 1, &PersonManager::tfvoicesCallback, 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);
+ person_voice_id_pub_ = nh->advertise<std_msgs::String>("person_voice_id", 1);
}
~PersonManager() {}
private:
- void tfvoicesCallback(const std_msgs::Empty::ConstPtr& msg)
+ void face_demographicsCallback(const hri_msgs::AgeAndGender::ConstPtr& msg)
{
ROS_INFO_STREAM("personmanager: received message: " << msg);
}
@@ -61,20 +61,20 @@ class PersonManager {
{
ROS_INFO_STREAM("personmanager: received message: " << msg);
}
- void face_demographicsCallback(const hri_msgs::AgeAndGender::ConstPtr& msg)
+ void tfvoicesCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("personmanager: received message: " << msg);
}
- ros::Subscriber tfvoices_sub_;
+ ros::Subscriber face_demographics_sub_;
ros::Subscriber tffaces_sub_;
ros::Subscriber candidate_matchshri_msgsidsmatch_sub_;
- ros::Subscriber face_demographics_sub_;
+ ros::Subscriber tfvoices_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_;
+ ros::Publisher person_voice_id_pub_;
};
diff --git a/spring-mock-ws/src/personreidentification/package.xml b/spring-mock-ws/src/personreidentification/package.xml
index d4dce639882553ed0a5602659660a64201d43d31..1b5e08d3a3dbd948ea40b1482d4e65a4b3bc50be 100644
--- a/spring-mock-ws/src/personreidentification/package.xml
+++ b/spring-mock-ws/src/personreidentification/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>personreidentification</name>
<version>1.0.0</version>
- <description>Person re-identification (UNITN) . Auto-generated by Boxology 1.3.2.</description>
+ <description>Person re-identification (UNITN) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/personreidentification/src/main.cpp b/spring-mock-ws/src/personreidentification/src/main.cpp
index df23823119c373661fde6497ba00126188e2e89a..bad8058fcf218b304a183d2f3dd24300f6a1e0dd 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 "hri_msgs/RegionOfInterestStamped.h"
#include "std_msgs/Empty.h"
+#include "hri_msgs/RegionOfInterestStamped.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 947968479167dbf2e82b84b56d7409cd4305070b..bb9f22c7a87bbab57c4164fa72b0e5555622fb0c 100644
--- a/spring-mock-ws/src/plan_actions/package.xml
+++ b/spring-mock-ws/src/plan_actions/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>plan_actions</name>
<version>1.0.0</version>
- <description>plan_actions (HWU) . Auto-generated by Boxology 1.3.2.</description>
+ <description>plan_actions (HWU) . Auto-generated by Boxology 1.3.3.</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 28222ba74669415de4da5f366a4ed8a34bf33e73..e19dc5bdf4e82f9d216fe0daf89e30254cf239bd 100644
--- a/spring-mock-ws/src/plan_actions/src/main.cpp
+++ b/spring-mock-ws/src/plan_actions/src/main.cpp
@@ -29,51 +29,51 @@ class Plan_actions {
public:
Plan_actions(ros::NodeHandle* nh) {
- // 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);
+ 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
output_pub_ = nh->advertise<std_msgs::Empty>("output", 1);
// ATTENTION: this topic is not defined in the architecture design
navgoals_pub_ = nh->advertise<std_msgs::Empty>("navgoals", 1);
+ // ATTENTION: this topic is not defined in the architecture design
+ interactionstate_pub_ = nh->advertise<std_msgs::Empty>("interactionstate", 1);
}
~Plan_actions() {}
private:
- void tfpersonsCallback(const std_msgs::Empty::ConstPtr& msg)
+ void demographicsCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("plan_actions: received message: " << msg);
}
- void semanticscenedescriptionCallback(const std_msgs::Empty::ConstPtr& msg)
+ void dialoguestateCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("plan_actions: received message: " << msg);
}
- void demographicsCallback(const std_msgs::Empty::ConstPtr& msg)
+ void tfpersonsCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("plan_actions: received message: " << msg);
}
- void dialoguestateCallback(const std_msgs::Empty::ConstPtr& msg)
+ void semanticscenedescriptionCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("plan_actions: received message: " << msg);
}
- ros::Subscriber tfpersons_sub_;
- ros::Subscriber semanticscenedescription_sub_;
ros::Subscriber demographics_sub_;
ros::Subscriber dialoguestate_sub_;
+ ros::Subscriber tfpersons_sub_;
+ ros::Subscriber semanticscenedescription_sub_;
- ros::Publisher interactionstate_pub_;
ros::Publisher output_pub_;
ros::Publisher navgoals_pub_;
+ ros::Publisher interactionstate_pub_;
};
diff --git a/spring-mock-ws/src/rgbdcamera_info/package.xml b/spring-mock-ws/src/rgbdcamera_info/package.xml
index 7cc5ed4d9cee9ab6cab0e899e053236109534956..1978373303a166946fd1a5eb77c96c842e04df82 100644
--- a/spring-mock-ws/src/rgbdcamera_info/package.xml
+++ b/spring-mock-ws/src/rgbdcamera_info/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>rgbdcamera_info</name>
<version>1.0.0</version>
- <description>RGB-D + camera_info (PAL) . Auto-generated by Boxology 1.3.2.</description>
+ <description>RGB-D + camera_info (PAL) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/rgbhead/package.xml b/spring-mock-ws/src/rgbhead/package.xml
index 0e572bb3900fbd87a9ae6168d1395efb28b7f835..5218e598740b94aee6ab6310361e3b1bef06c094 100644
--- a/spring-mock-ws/src/rgbhead/package.xml
+++ b/spring-mock-ws/src/rgbhead/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>rgbhead</name>
<version>1.0.0</version>
- <description>RGB head (PAL) . Auto-generated by Boxology 1.3.2.</description>
+ <description>RGB head (PAL) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/robot_behavior/package.xml b/spring-mock-ws/src/robot_behavior/package.xml
index f48730340193c47607cfd9eb01527595e0e5425c..70f5ffeafd6205cdb56f17074022108522b123c8 100644
--- a/spring-mock-ws/src/robot_behavior/package.xml
+++ b/spring-mock-ws/src/robot_behavior/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>robot_behavior</name>
<version>1.0.0</version>
- <description>robot_behavior (INRIA) . Auto-generated by Boxology 1.3.2.</description>
+ <description>robot_behavior (INRIA) . Auto-generated by Boxology 1.3.3.</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 5105172af838454db0be62724786c3ba628629c0..ad231314969a89dcda721066963b04be1e20298e 100644
--- a/spring-mock-ws/src/robot_behavior/src/main.cpp
+++ b/spring-mock-ws/src/robot_behavior/src/main.cpp
@@ -23,61 +23,61 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "std_msgs/Empty.h"
#include "hri_msgs/GroupsStamped.h"
+#include "std_msgs/Empty.h"
class Robot_behavior {
public:
Robot_behavior(ros::NodeHandle* nh) {
+ groups_sub_ = nh->subscribe("groups", 1, &Robot_behavior::groupsCallback, this);
+ // 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
- status_pub_ = nh->advertise<std_msgs::Empty>("status", 1);
// ATTENTION: this topic is not defined in the architecture design
lowlevelactions_pub_ = nh->advertise<std_msgs::Empty>("lowlevelactions", 1);
+ // ATTENTION: this topic is not defined in the architecture design
+ status_pub_ = nh->advertise<std_msgs::Empty>("status", 1);
}
~Robot_behavior() {}
private:
- void lookatCallback(const std_msgs::Empty::ConstPtr& msg)
+ void groupsCallback(const hri_msgs::GroupsStamped::ConstPtr& msg)
{
ROS_INFO_STREAM("robot_behavior: received message: " << msg);
}
- void followingnavgoalsCallback(const std_msgs::Empty::ConstPtr& msg)
+ void statusCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("robot_behavior: received message: " << msg);
}
- void occupancymapCallback(const std_msgs::Empty::ConstPtr& msg)
+ void lookatCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("robot_behavior: received message: " << msg);
}
- void statusCallback(const std_msgs::Empty::ConstPtr& msg)
+ void followingnavgoalsCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("robot_behavior: received message: " << msg);
}
- void groupsCallback(const hri_msgs::GroupsStamped::ConstPtr& msg)
+ void occupancymapCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("robot_behavior: received message: " << msg);
}
+ ros::Subscriber groups_sub_;
+ 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_;
ros::Publisher lowlevelactions_pub_;
+ ros::Publisher status_pub_;
};
diff --git a/spring-mock-ws/src/robotfunctionallayer/package.xml b/spring-mock-ws/src/robotfunctionallayer/package.xml
index 91f3bcd4cec0e5c765aaadb563149aad154767cb..823079ac18e9cba14643c5cc384fdd95383f1460 100644
--- a/spring-mock-ws/src/robotfunctionallayer/package.xml
+++ b/spring-mock-ws/src/robotfunctionallayer/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>robotfunctionallayer</name>
<version>1.0.0</version>
- <description>Robot functional layer (PAL) . Auto-generated by Boxology 1.3.2.</description>
+ <description>Robot functional layer (PAL) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/robotgui/package.xml b/spring-mock-ws/src/robotgui/package.xml
index e3d60c1a4d7283568244638238751bd001598048..f091d8c809193d31af11e13fc2e97c4196502a20 100644
--- a/spring-mock-ws/src/robotgui/package.xml
+++ b/spring-mock-ws/src/robotgui/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>robotgui</name>
<version>1.0.0</version>
- <description>Robot GUI (ERM) . Auto-generated by Boxology 1.3.2.</description>
+ <description>Robot GUI (ERM) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/rosopenpose/package.xml b/spring-mock-ws/src/rosopenpose/package.xml
index 98ed1e1dfe81af4d18c40512354af13c5cfbc73b..07a4148eb76174a15509edfedf8d2bfba3702ef5 100644
--- a/spring-mock-ws/src/rosopenpose/package.xml
+++ b/spring-mock-ws/src/rosopenpose/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>rosopenpose</name>
<version>1.0.0</version>
- <description>ROS openpose (INRIA) . Auto-generated by Boxology 1.3.2.</description>
+ <description>ROS openpose (INRIA) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/sceneunderstanding/package.xml b/spring-mock-ws/src/sceneunderstanding/package.xml
index c823ce29856eb40d58a93173df1d6986c6f9d27b..790e09d2f122a622bf2cbb6d73bee75fbf5b9d34 100644
--- a/spring-mock-ws/src/sceneunderstanding/package.xml
+++ b/spring-mock-ws/src/sceneunderstanding/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>sceneunderstanding</name>
<version>1.0.0</version>
- <description>Scene understanding (HWU) . Auto-generated by Boxology 1.3.2.</description>
+ <description>Scene understanding (HWU) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/semanticmapping/package.xml b/spring-mock-ws/src/semanticmapping/package.xml
index 964af126c39646c4b9a71515512c2565f1d65bb2..9a9f6f442fd44ca95e10532fb809c275776f2105 100644
--- a/spring-mock-ws/src/semanticmapping/package.xml
+++ b/spring-mock-ws/src/semanticmapping/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>semanticmapping</name>
<version>1.0.0</version>
- <description>Semantic mapping (CVUT) . Auto-generated by Boxology 1.3.2.</description>
+ <description>Semantic mapping (CVUT) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/softbiometrics/package.xml b/spring-mock-ws/src/softbiometrics/package.xml
index aa1c8686d3a2db8fdaa37def6332619c589e3cab..e071031225659f6d5cae39f3809931a011c7fbf5 100644
--- a/spring-mock-ws/src/softbiometrics/package.xml
+++ b/spring-mock-ws/src/softbiometrics/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>softbiometrics</name>
<version>1.0.0</version>
- <description>Soft biometrics (UNITN) . Auto-generated by Boxology 1.3.2.</description>
+ <description>Soft biometrics (UNITN) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/softbiometrics/src/main.cpp b/spring-mock-ws/src/softbiometrics/src/main.cpp
index be1a81a10f36aa773dd2e77ff6232dee523855c8..6b6ea368c88a335770b096ae8e7bff8b71b31064 100644
--- a/spring-mock-ws/src/softbiometrics/src/main.cpp
+++ b/spring-mock-ws/src/softbiometrics/src/main.cpp
@@ -23,8 +23,8 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "hri_msgs/AgeAndGender.h"
#include "hri_msgs/RegionOfInterestStamped.h"
+#include "hri_msgs/AgeAndGender.h"
class SoftBiometrics {
public:
diff --git a/spring-mock-ws/src/soundsourcelocalisation/package.xml b/spring-mock-ws/src/soundsourcelocalisation/package.xml
index 9e5aa3ad38faaffff53ca55e694668babda4f350..f6817598d6f8cd10346e47aa95a2ad3982106746 100644
--- a/spring-mock-ws/src/soundsourcelocalisation/package.xml
+++ b/spring-mock-ws/src/soundsourcelocalisation/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>soundsourcelocalisation</name>
<version>1.0.0</version>
- <description>Sound source localisation (BIU) . Auto-generated by Boxology 1.3.2.</description>
+ <description>Sound source localisation (BIU) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/speakeridentification/package.xml b/spring-mock-ws/src/speakeridentification/package.xml
index 58f972f01acc0a641d35afb387200c4a2f287291..ff463ca317a118ab1ca5734b7abfb4cea46c569d 100644
--- a/spring-mock-ws/src/speakeridentification/package.xml
+++ b/spring-mock-ws/src/speakeridentification/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>speakeridentification</name>
<version>1.0.0</version>
- <description>Speaker identification (BIU) . Auto-generated by Boxology 1.3.2.</description>
+ <description>Speaker identification (BIU) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/speechanalysis/CMakeLists.txt b/spring-mock-ws/src/speechanalysis/CMakeLists.txt
deleted file mode 100644
index df5cffaa355d5eb48676d83ce40717800cec7824..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/speechanalysis/CMakeLists.txt
+++ /dev/null
@@ -1,205 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(speechanalysis)
-
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
- roscpp
- audio_common_msgs
- respeaker_ros
- std_msgs
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-## * add a build_depend tag for "message_generation"
-## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-## but can be declared for certainty nonetheless:
-## * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-## * add "message_generation" and every package in MSG_DEP_SET to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * add "message_runtime" and every package in MSG_DEP_SET to
-## catkin_package(CATKIN_DEPENDS ...)
-## * uncomment the add_*_files sections below as needed
-## and list every .msg/.srv/.action file to be processed
-## * uncomment the generate_messages entry below
-## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-# FILES
-# Message1.msg
-# Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-# FILES
-# Service1.srv
-# Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-# FILES
-# Action1.action
-# Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-# DEPENDENCIES
-# std_msgs # Or other packages containing msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-## * add "dynamic_reconfigure" to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * uncomment the "generate_dynamic_reconfigure_options" section below
-## and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-# cfg/DynReconf1.cfg
-# cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-# INCLUDE_DIRS include
-# LIBRARIES speechanalysis
-# CATKIN_DEPENDS roscpp
-# DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(include)
-include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-# src/${PROJECT_NAME}/speechanalysis.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-add_executable(${PROJECT_NAME}_node src/main.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-target_link_libraries(${PROJECT_NAME}_node
- ${catkin_LIBRARIES}
-)
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# catkin_install_python(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-install(TARGETS ${PROJECT_NAME}_node
- RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-# FILES_MATCHING PATTERN "*.h"
-# PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-# # myfile1
-# # myfile2
-# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_speechanalysis.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
diff --git a/spring-mock-ws/src/speechanalysis/package.xml b/spring-mock-ws/src/speechanalysis/package.xml
deleted file mode 100644
index 87f4dd9572a24c0a80ed5b4e72c9f2827a87c0f5..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/speechanalysis/package.xml
+++ /dev/null
@@ -1,60 +0,0 @@
-<?xml version="1.0"?>
-<package format="3">
- <name>speechanalysis</name>
- <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: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
- <maintainer email="todo@example.com">TODO</maintainer>
-
- <!-- One license tag required, multiple allowed, one license per tag -->
- <!-- Commonly used license strings: -->
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
- <license>BSD</license>
-
-
-
- <!-- Url tags are optional, but multiple are allowed, one per tag -->
- <!-- Optional attribute type can be: website, bugtracker, or repository -->
- <!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/NAME</url> -->
-
-
- <!-- Author tags are optional, multiple are allowed, one per tag -->
- <!-- Authors do not have to be maintainers, but could be -->
- <!-- Example: -->
- <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-
-
- <!-- The *depend tags are used to specify dependencies -->
- <!-- Dependencies can be catkin packages or system dependencies -->
- <!-- Examples: -->
- <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
- <!-- <depend>roscpp</depend> -->
- <!-- Note that this is equivalent to the following: -->
- <!-- <build_depend>roscpp</build_depend> -->
- <!-- <exec_depend>roscpp</exec_depend> -->
- <!-- Use build_depend for packages you need at compile time: -->
- <!-- <build_depend>message_generation</build_depend> -->
- <!-- Use build_export_depend for packages you need in order to build against this package: -->
- <!-- <build_export_depend>message_generation</build_export_depend> -->
- <!-- Use buildtool_depend for build tool packages: -->
- <!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use exec_depend for packages you need at runtime: -->
- <!-- <exec_depend>message_runtime</exec_depend> -->
- <!-- Use test_depend for packages you need only for testing: -->
- <!-- <test_depend>gtest</test_depend> -->
- <!-- Use doc_depend for packages you need only for building documentation: -->
- <!-- <doc_depend>doxygen</doc_depend> -->
- <buildtool_depend>catkin</buildtool_depend>
- <exec_depend>roscpp</exec_depend>
- <depend>audio_common_msgs</depend>
- <depend>respeaker_ros</depend>
- <depend>std_msgs</depend>
-
- <export>
-
- </export>
-</package>
diff --git a/spring-mock-ws/src/speechanalysis/src/main.cpp b/spring-mock-ws/src/speechanalysis/src/main.cpp
deleted file mode 100644
index 276165444491ee3513f182b868956b191ffa48e3..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/speechanalysis/src/main.cpp
+++ /dev/null
@@ -1,80 +0,0 @@
-/*
- Copyright 2021-2025, SPRING Consortium
-
- Permission is hereby granted, free of charge, to any person obtaining a copy
- of this software and associated documentation files (the "Software"), to deal
- in the Software without restriction, including without limitation the rights
- to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in all
- copies or substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- SOFTWARE.
-*/
-
-
-#include "ros/ros.h"
-#include "std_msgs/String.h"
-#include "std_msgs/Empty.h"
-#include "respeaker_ros/RawAudioData.h"
-#include "audio_common_msgs/AudioData.h"
-
-class SpeechAnalysis {
- public:
- SpeechAnalysis(ros::NodeHandle* nh) {
-
- // 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);
- }
-
- ~SpeechAnalysis() {}
-
- private:
- void soundlocalizationCallback(const std_msgs::Empty::ConstPtr& msg)
- {
- ROS_INFO_STREAM("speechanalysis: received message: " << msg);
- }
- void raw_audioCallback(const respeaker_ros::RawAudioData::ConstPtr& msg)
- {
- ROS_INFO_STREAM("speechanalysis: received message: " << 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::Publisher audiopostprocess_audio_streamscfoutputinnodedesc_pub_;
-
-};
-
-int main(int argc, char** argv) {
- ros::init(argc, argv, "speechanalysis");
-
- // Initialize node parameters from launch file or command line.
- // Use a private node handle so that multiple instances of the node can be
- // run simultaneously while using different parameters.
- ros::NodeHandle private_node_handle_("~");
-
- auto speechanalysis = SpeechAnalysis(&private_node_handle_);
-
- ROS_INFO("Node speechanalysis launched and ready.");
- ros::spin();
- return 0;
-}
diff --git a/spring-mock-ws/src/speechsynthesis/package.xml b/spring-mock-ws/src/speechsynthesis/package.xml
index 3767bd0f9e955b09d97041c87517401324876dcb..1ec7bc55c9c0c87edd8b3533ab447c081b3eafff 100644
--- a/spring-mock-ws/src/speechsynthesis/package.xml
+++ b/spring-mock-ws/src/speechsynthesis/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>speechsynthesis</name>
<version>1.0.0</version>
- <description>Speech synthesis (PAL) . Auto-generated by Boxology 1.3.2.</description>
+ <description>Speech synthesis (PAL) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/springarchitecture/CMakeLists.txt b/spring-mock-ws/src/springarchitecture/CMakeLists.txt
index 147a4339a933d0b0ab015bc2e69bda9912964687..2d3628b55a2960d50b11b165ec8011e61d7dd537 100644
--- a/spring-mock-ws/src/springarchitecture/CMakeLists.txt
+++ b/spring-mock-ws/src/springarchitecture/CMakeLists.txt
@@ -3,44 +3,44 @@ project(springarchitecture)
find_package(catkin REQUIRED COMPONENTS
- asr
- voicespeechmatching
- robot_behavior
- userattentionestimation
- rgbdcamera_info
activityreco
- body2dpose
- maskdetection
semanticmapping
- depthestimationfrommonocular
- sceneunderstanding
- rosopenpose
- hri_fullbody
- objectdetectionidentificationlocalisation
+ userattentionestimation
+ soundsourcelocalisation
+ interaction_manager
+ people3dtracker
+ hri_msgs
+ speechsynthesis
fisheye
fformation
- nonverbalbehaviours
- uservisualfocus
- people3dtracker
- speakeridentification
- personmanager
+ occupancymap
+ dialoguearbiter
+ hri_fullbody
personreidentification
- orbslam
- speechanalysis
- multipeoplebodytracker
+ rosopenpose
+ uservisualfocus
+ robot_behavior
respeaker_ros
- facedetection
- spring_msgs
- plan_actions
+ audio_processing
+ orbslam
+ speakeridentification
rgbhead
visualslam3dmap
+ nonverbalbehaviours
+ plan_actions
+ objectdetectionidentificationlocalisation
+ body2dpose
+ google_asr
robotfunctionallayer
- interaction_manager
- hri_msgs
- speechsynthesis
- soundsourcelocalisation
- occupancymap
- dialoguearbiter
+ personmanager
+ facedetection
+ spring_msgs
+ rgbdcamera_info
+ voicespeechmatching
+ maskdetection
+ depthestimationfrommonocular
+ sceneunderstanding
+ multipeoplebodytracker
robotgui
softbiometrics
)
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all.launch b/spring-mock-ws/src/springarchitecture/launch/start_all.launch
index 1135e6e1ca522666e4834d56dfa7d0951e1d1770..db88aa60b9c2c72dc9e2ede748865ec238a70c23 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all.launch
@@ -1,20 +1,12 @@
<launch>
- <!-- 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) -->
- <node pkg="voicespeechmatching" name="voicespeechmatching" type="node" output="screen">
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
- <remap from="speech_streams" to="/audio/speech_streams"/>
- <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 robot_behavior (robot_behavior) -->
- <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
- <remap from="groups" to="/humans/interactions/groups"/>
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <remap from="detected_objects" to="/detected_objects"/>
</node>
<!-- launching User attention estimation (userattentionestimation) -->
@@ -22,75 +14,59 @@
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/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 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 Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ <!-- launching interaction_manager (interaction_manager) -->
+ <node pkg="interaction_manager" name="interaction_manager" 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"/>
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" 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 Fisheye (fisheye) -->
+ <node pkg="fisheye" name="fisheye" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" 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 Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <remap from="map_refined" to="/map_refined"/>
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- 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 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"/>
+ <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"/>
- <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"/>
+ <!-- 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 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"/>
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
<!-- launching User visual focus (uservisualfocus) -->
@@ -98,28 +74,21 @@
<remap from="gaze" to="/humans/interactions/gaze"/>
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
- </node>
-
- <!-- launching Speaker identification (speakeridentification) -->
- <node pkg="speakeridentification" name="speakeridentification" type="node" output="screen">
- <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <!-- 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 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"/>
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="respeaker_multichan_node.py" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</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"/>
+ <!-- launching audio_processing (audio_processing) -->
+ <node pkg="audio_processing" name="audio_processing" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
<!-- launching ORB SLAM (orbslam) -->
@@ -128,70 +97,101 @@
<remap from="map" to="/map"/>
</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 Speaker identification (speakeridentification) -->
+ <node pkg="speakeridentification" name="speakeridentification" type="node" output="screen">
+ <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
- <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
- <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+ <!-- launching RGB head (rgbhead) -->
+ <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
<remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
</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 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 Face detection (facedetection) -->
- <node pkg="facedetection" name="facedetection" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- 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 plan_actions (plan_actions) -->
<node pkg="plan_actions" name="plan_actions" type="node" output="screen">
</node>
- <!-- launching RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
<remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="detected_objects" to="/detected_objects"/>
</node>
- <!-- 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"/>
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ </node>
+
+ <!-- launching google_asr (google_asr) -->
+ <node pkg="google_asr" name="google_asr" type="node" output="screen">
+ <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
</node>
<!-- launching Robot functional layer (robotfunctionallayer) -->
<node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching interaction_manager (interaction_manager) -->
- <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
+ <!-- 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_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+ <remap from="body_id" to="/humans/persons/*/body_id"/>
+ <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- launching Face detection (facedetection) -->
+ <node pkg="facedetection" name="facedetection" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Sound source localisation (soundsourcelocalisation) -->
- <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" 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 Voice speech matching (voicespeechmatching) -->
+ <node pkg="voicespeechmatching" name="voicespeechmatching" type="node" output="screen">
+ <remap from="speech_streams" to="/audio/speech_streams"/>
<remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="map_refined" to="/map_refined"/>
+ <!-- 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 dialogue arbiter (dialoguearbiter) -->
- <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+ <!-- 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 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 Robot GUI (robotgui) -->
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 1c7e83af2ba676b1c35145348de19d0d311c8101..43f60c0f1519346ec6db24384b967241ea488777 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all_but_BIU.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all_but_BIU.launch
@@ -1,9 +1,13 @@
<launch>
<!-- this launch file starts all SPRING nodes except for BIU nodes. -->
- <!-- launching robot_behavior (robot_behavior) -->
- <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
- <remap from="groups" to="/humans/interactions/groups"/>
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" 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"/>
</node>
<!-- launching User attention estimation (userattentionestimation) -->
@@ -11,75 +15,54 @@
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/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 interaction_manager (interaction_manager) -->
+ <node pkg="interaction_manager" name="interaction_manager" 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"/>
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" 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 Fisheye (fisheye) -->
+ <node pkg="fisheye" name="fisheye" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" 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 Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <remap from="map_refined" to="/map_refined"/>
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- 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 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"/>
+ <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"/>
- <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"/>
+ <!-- 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 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"/>
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
<!-- launching User visual focus (uservisualfocus) -->
@@ -87,22 +70,15 @@
<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"/>
+ <!-- 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 Person re-identification (personreidentification) -->
- <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="respeaker_multichan_node.py" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
<!-- launching ORB SLAM (orbslam) -->
@@ -111,59 +87,83 @@
<remap from="map" to="/map"/>
</node>
- <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
- <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+ <!-- launching RGB head (rgbhead) -->
+ <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
<remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
</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 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 Face detection (facedetection) -->
- <node pkg="facedetection" name="facedetection" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- 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 plan_actions (plan_actions) -->
<node pkg="plan_actions" name="plan_actions" type="node" output="screen">
</node>
- <!-- launching RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
<remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="detected_objects" to="/detected_objects"/>
</node>
- <!-- 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"/>
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
</node>
<!-- launching Robot functional layer (robotfunctionallayer) -->
<node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching interaction_manager (interaction_manager) -->
- <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
+ <!-- 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_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+ <remap from="body_id" to="/humans/persons/*/body_id"/>
+ <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- launching Face detection (facedetection) -->
+ <node pkg="facedetection" name="facedetection" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="face_roi" to="/humans/faces/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 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 dialogue arbiter (dialoguearbiter) -->
- <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+ <!-- 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) -->
+ <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 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 Robot GUI (robotgui) -->
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 36e65474f5777b02f4d1bba3e85cb9620a1da2cc..d0e290c5648866bcd59184d6e1460e7b9a255cbc 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
@@ -1,21 +1,8 @@
<launch>
<!-- this launch file starts all SPRING nodes except for CVUT nodes. -->
- <!-- 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) -->
- <node pkg="voicespeechmatching" name="voicespeechmatching" type="node" output="screen">
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
- <remap from="speech_streams" to="/audio/speech_streams"/>
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
- </node>
-
- <!-- launching robot_behavior (robot_behavior) -->
- <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
- <remap from="groups" to="/humans/interactions/groups"/>
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
<!-- launching User attention estimation (userattentionestimation) -->
@@ -23,73 +10,82 @@
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/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 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 Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ <!-- launching interaction_manager (interaction_manager) -->
+ <node pkg="interaction_manager" name="interaction_manager" 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"/>
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+ <!-- launching 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 ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- 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 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="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
<remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ </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 Fisheye (fisheye) -->
- <node pkg="fisheye" name="fisheye" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
+ <!-- launching User visual focus (uservisualfocus) -->
+ <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
<remap from="gaze" to="/humans/interactions/gaze"/>
+ </node>
+
+ <!-- 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 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"/>
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="respeaker_multichan_node.py" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
- <remap from="gaze" to="/humans/interactions/gaze"/>
+ <!-- launching audio_processing (audio_processing) -->
+ <node pkg="audio_processing" name="audio_processing" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+ <!-- launching ORB SLAM (orbslam) -->
+ <node pkg="orbslam" name="orbslam" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+ <remap from="map" to="/map"/>
</node>
<!-- launching Speaker identification (speakeridentification) -->
@@ -98,42 +94,45 @@
<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"/>
+ <!-- launching RGB head (rgbhead) -->
+ <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching Person re-identification (personreidentification) -->
- <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+ <!-- launching 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 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 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 plan_actions (plan_actions) -->
+ <node pkg="plan_actions" name="plan_actions" type="node" output="screen">
</node>
- <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
- <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
<remap from="image_raw" to="/camera_head/color/image_raw"/>
<remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
</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 google_asr (google_asr) -->
+ <node pkg="google_asr" name="google_asr" type="node" output="screen">
+ <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+ </node>
+
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" 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_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+ <remap from="body_id" to="/humans/persons/*/body_id"/>
+ <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
</node>
<!-- launching Face detection (facedetection) -->
@@ -142,35 +141,36 @@
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching plan_actions (plan_actions) -->
- <node pkg="plan_actions" name="plan_actions" type="node" output="screen">
- </node>
-
- <!-- launching RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching 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 functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+ <!-- launching Voice speech matching (voicespeechmatching) -->
+ <node pkg="voicespeechmatching" name="voicespeechmatching" type="node" output="screen">
+ <remap from="speech_streams" to="/audio/speech_streams"/>
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</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 Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+ <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
</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 Scene understanding (sceneunderstanding) -->
+ <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 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 Robot GUI (robotgui) -->
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 c08c8f94137ec1d51bf211b50ed3fabad32beb42..510210e6f33b8e957fc5565a838f377976638b14 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
@@ -1,21 +1,13 @@
<launch>
<!-- this launch file starts all SPRING nodes except for ERM nodes. -->
- <!-- 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) -->
- <node pkg="voicespeechmatching" name="voicespeechmatching" type="node" output="screen">
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
- <remap from="speech_streams" to="/audio/speech_streams"/>
- <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 robot_behavior (robot_behavior) -->
- <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
- <remap from="groups" to="/humans/interactions/groups"/>
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <remap from="detected_objects" to="/detected_objects"/>
</node>
<!-- launching User attention estimation (userattentionestimation) -->
@@ -23,75 +15,59 @@
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/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 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 Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ <!-- launching interaction_manager (interaction_manager) -->
+ <node pkg="interaction_manager" name="interaction_manager" 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"/>
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" 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 Fisheye (fisheye) -->
+ <node pkg="fisheye" name="fisheye" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" 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 Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <remap from="map_refined" to="/map_refined"/>
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- 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 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"/>
+ <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"/>
- <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"/>
+ <!-- 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 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"/>
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
<!-- launching User visual focus (uservisualfocus) -->
@@ -99,28 +75,21 @@
<remap from="gaze" to="/humans/interactions/gaze"/>
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
- </node>
-
- <!-- launching Speaker identification (speakeridentification) -->
- <node pkg="speakeridentification" name="speakeridentification" type="node" output="screen">
- <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <!-- 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 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"/>
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="respeaker_multichan_node.py" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</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"/>
+ <!-- launching audio_processing (audio_processing) -->
+ <node pkg="audio_processing" name="audio_processing" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
<!-- launching ORB SLAM (orbslam) -->
@@ -129,70 +98,101 @@
<remap from="map" to="/map"/>
</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 Speaker identification (speakeridentification) -->
+ <node pkg="speakeridentification" name="speakeridentification" type="node" output="screen">
+ <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
- <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
- <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+ <!-- launching RGB head (rgbhead) -->
+ <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
<remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
</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 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 Face detection (facedetection) -->
- <node pkg="facedetection" name="facedetection" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- 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 plan_actions (plan_actions) -->
<node pkg="plan_actions" name="plan_actions" type="node" output="screen">
</node>
- <!-- launching RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
<remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="detected_objects" to="/detected_objects"/>
</node>
- <!-- 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"/>
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ </node>
+
+ <!-- launching google_asr (google_asr) -->
+ <node pkg="google_asr" name="google_asr" type="node" output="screen">
+ <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
</node>
<!-- launching Robot functional layer (robotfunctionallayer) -->
<node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching interaction_manager (interaction_manager) -->
- <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
+ <!-- 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_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+ <remap from="body_id" to="/humans/persons/*/body_id"/>
+ <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- launching Face detection (facedetection) -->
+ <node pkg="facedetection" name="facedetection" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Sound source localisation (soundsourcelocalisation) -->
- <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" 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 Voice speech matching (voicespeechmatching) -->
+ <node pkg="voicespeechmatching" name="voicespeechmatching" type="node" output="screen">
+ <remap from="speech_streams" to="/audio/speech_streams"/>
<remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="map_refined" to="/map_refined"/>
+ <!-- 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 dialogue arbiter (dialoguearbiter) -->
- <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+ <!-- 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 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 Soft biometrics (softbiometrics) -->
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 3659bcbd6b106f42a41c8951738ee6f794b85883..0caaa5bb022e57b791435a3fa62f1e84fc16d483 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
@@ -1,21 +1,13 @@
<launch>
<!-- this launch file starts all SPRING nodes except for HWU nodes. -->
- <!-- 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) -->
- <node pkg="voicespeechmatching" name="voicespeechmatching" type="node" output="screen">
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
- <remap from="speech_streams" to="/audio/speech_streams"/>
- <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 robot_behavior (robot_behavior) -->
- <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
- <remap from="groups" to="/humans/interactions/groups"/>
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <remap from="detected_objects" to="/detected_objects"/>
</node>
<!-- launching User attention estimation (userattentionestimation) -->
@@ -23,80 +15,78 @@
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/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 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 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 People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" 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 Fisheye (fisheye) -->
+ <node pkg="fisheye" name="fisheye" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" 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 ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <remap from="map_refined" to="/map_refined"/>
</node>
<!-- launching 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"/>
+ <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"/>
- <remap from="detected_objects" to="/detected_objects"/>
+ <!-- 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 Fisheye (fisheye) -->
- <node pkg="fisheye" name="fisheye" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
+ <!-- launching User visual focus (uservisualfocus) -->
+ <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
<remap from="gaze" to="/humans/interactions/gaze"/>
+ </node>
+
+ <!-- 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 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"/>
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="respeaker_multichan_node.py" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
- <remap from="gaze" to="/humans/interactions/gaze"/>
+ <!-- launching audio_processing (audio_processing) -->
+ <node pkg="audio_processing" name="audio_processing" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+ <!-- launching ORB SLAM (orbslam) -->
+ <node pkg="orbslam" name="orbslam" type="node" output="screen">
+ <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+ <remap from="map" to="/map"/>
</node>
<!-- launching Speaker identification (speakeridentification) -->
@@ -105,42 +95,53 @@
<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"/>
+ <!-- launching RGB head (rgbhead) -->
+ <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching Person re-identification (personreidentification) -->
- <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <!-- 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 ORB SLAM (orbslam) -->
- <node pkg="orbslam" name="orbslam" type="node" output="screen">
- <remap from="image_raw" to="/camera_torso/color/image_raw"/>
- <remap from="map" to="/map"/>
+ <!-- launching 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 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 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 Multi-people body tracker (multipeoplebodytracker) -->
- <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
<remap from="image_raw" to="/camera_head/color/image_raw"/>
<remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
</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 google_asr (google_asr) -->
+ <node pkg="google_asr" name="google_asr" type="node" output="screen">
+ <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+ </node>
+
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" 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_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+ <remap from="body_id" to="/humans/persons/*/body_id"/>
+ <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
</node>
<!-- launching Face detection (facedetection) -->
@@ -149,33 +150,32 @@
<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 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"/>
+ <!-- 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 functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+ <!-- launching Voice speech matching (voicespeechmatching) -->
+ <node pkg="voicespeechmatching" name="voicespeechmatching" type="node" output="screen">
+ <remap from="speech_streams" to="/audio/speech_streams"/>
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <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 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 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 Depth estimation from monocular (depthestimationfrommonocular) -->
+ <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" 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 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 Robot GUI (robotgui) -->
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 7574893206c506281e4aac5e0ce14ef98907108a..03effd624ad911aadd6fff8ab0706da0872044bd 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
@@ -1,70 +1,31 @@
<launch>
<!-- this launch file starts all SPRING nodes except for INRIA nodes. -->
- <!-- 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) -->
- <node pkg="voicespeechmatching" name="voicespeechmatching" type="node" output="screen">
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
- <remap from="speech_streams" to="/audio/speech_streams"/>
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
- </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 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">
+ <!-- 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 Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+ <!-- 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 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"/>
+ <!-- launching interaction_manager (interaction_manager) -->
+ <node pkg="interaction_manager" name="interaction_manager" 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 Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
<!-- launching Fisheye (fisheye) -->
@@ -78,22 +39,22 @@
<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"/>
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <remap from="map_refined" to="/map_refined"/>
</node>
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
- <remap from="gaze" to="/humans/interactions/gaze"/>
+ <!-- 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 Speaker identification (speakeridentification) -->
- <node pkg="speakeridentification" name="speakeridentification" type="node" output="screen">
- <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <!-- 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="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
</node>
<!-- launching Person re-identification (personreidentification) -->
@@ -101,32 +62,33 @@
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching ORB SLAM (orbslam) -->
- <node pkg="orbslam" name="orbslam" type="node" output="screen">
- <remap from="image_raw" to="/camera_torso/color/image_raw"/>
- <remap from="map" to="/map"/>
+ <!-- launching User visual focus (uservisualfocus) -->
+ <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+ <remap from="gaze" to="/humans/interactions/gaze"/>
</node>
- <!-- launching Speech analysis (speechanalysis) -->
- <node pkg="speechanalysis" name="speechanalysis" type="node" output="screen">
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="respeaker_multichan_node.py" output="screen">
<remap from="raw_audio" to="/audio/raw_audio"/>
<remap from="ego_audio" to="/audio/ego_audio"/>
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <!-- launching audio_processing (audio_processing) -->
+ <node pkg="audio_processing" name="audio_processing" 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) -->
- <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"/>
+ <!-- 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 plan_actions (plan_actions) -->
- <node pkg="plan_actions" name="plan_actions" type="node" output="screen">
+ <!-- launching Speaker identification (speakeridentification) -->
+ <node pkg="speakeridentification" name="speakeridentification" type="node" output="screen">
+ <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
<!-- launching RGB head (rgbhead) -->
@@ -140,31 +102,69 @@
<remap from="image_head" to="/camera_head/color/image_head"/>
</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 plan_actions (plan_actions) -->
+ <node pkg="plan_actions" name="plan_actions" 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"/>
+ </node>
+
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ </node>
+
+ <!-- launching google_asr (google_asr) -->
+ <node pkg="google_asr" name="google_asr" type="node" output="screen">
+ <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+ </node>
+
<!-- launching Robot functional layer (robotfunctionallayer) -->
<node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching interaction_manager (interaction_manager) -->
- <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
+ <!-- launching Face detection (facedetection) -->
+ <node pkg="facedetection" name="facedetection" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="face_roi" to="/humans/faces/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 Sound source localisation (soundsourcelocalisation) -->
- <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
+ <!-- launching Voice speech matching (voicespeechmatching) -->
+ <node pkg="voicespeechmatching" name="voicespeechmatching" type="node" output="screen">
+ <remap from="speech_streams" to="/audio/speech_streams"/>
<remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="map_refined" to="/map_refined"/>
+ <!-- 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 dialogue arbiter (dialoguearbiter) -->
- <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+ <!-- 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 Robot GUI (robotgui) -->
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 a6f87e6e3470ea4fcbad3490f13be74780b606d0..be791be3304ce25ca5769dd5cbc775779010e4c9 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
@@ -1,21 +1,13 @@
<launch>
<!-- this launch file starts all SPRING nodes except for Other nodes. -->
- <!-- 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) -->
- <node pkg="voicespeechmatching" name="voicespeechmatching" type="node" output="screen">
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
- <remap from="speech_streams" to="/audio/speech_streams"/>
- <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 robot_behavior (robot_behavior) -->
- <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
- <remap from="groups" to="/humans/interactions/groups"/>
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <remap from="detected_objects" to="/detected_objects"/>
</node>
<!-- launching User attention estimation (userattentionestimation) -->
@@ -23,75 +15,59 @@
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/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 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 Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ <!-- launching interaction_manager (interaction_manager) -->
+ <node pkg="interaction_manager" name="interaction_manager" 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"/>
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" 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 Fisheye (fisheye) -->
+ <node pkg="fisheye" name="fisheye" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
</node>
- <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" 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 Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <remap from="map_refined" to="/map_refined"/>
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- 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 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"/>
+ <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"/>
- <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"/>
+ <!-- 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 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"/>
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
<!-- launching User visual focus (uservisualfocus) -->
@@ -99,28 +75,21 @@
<remap from="gaze" to="/humans/interactions/gaze"/>
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
- </node>
-
- <!-- launching Speaker identification (speakeridentification) -->
- <node pkg="speakeridentification" name="speakeridentification" type="node" output="screen">
- <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <!-- 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 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"/>
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="respeaker_multichan_node.py" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</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"/>
+ <!-- launching audio_processing (audio_processing) -->
+ <node pkg="audio_processing" name="audio_processing" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
<!-- launching ORB SLAM (orbslam) -->
@@ -129,70 +98,101 @@
<remap from="map" to="/map"/>
</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 Speaker identification (speakeridentification) -->
+ <node pkg="speakeridentification" name="speakeridentification" type="node" output="screen">
+ <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
- <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
- <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+ <!-- launching RGB head (rgbhead) -->
+ <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
<remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
</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 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 Face detection (facedetection) -->
- <node pkg="facedetection" name="facedetection" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- 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 plan_actions (plan_actions) -->
<node pkg="plan_actions" name="plan_actions" type="node" output="screen">
</node>
- <!-- launching RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
<remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="detected_objects" to="/detected_objects"/>
</node>
- <!-- 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"/>
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ </node>
+
+ <!-- launching google_asr (google_asr) -->
+ <node pkg="google_asr" name="google_asr" type="node" output="screen">
+ <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
</node>
<!-- launching Robot functional layer (robotfunctionallayer) -->
<node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching interaction_manager (interaction_manager) -->
- <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
+ <!-- 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_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+ <remap from="body_id" to="/humans/persons/*/body_id"/>
+ <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- launching Face detection (facedetection) -->
+ <node pkg="facedetection" name="facedetection" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Sound source localisation (soundsourcelocalisation) -->
- <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" 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 Voice speech matching (voicespeechmatching) -->
+ <node pkg="voicespeechmatching" name="voicespeechmatching" type="node" output="screen">
+ <remap from="speech_streams" to="/audio/speech_streams"/>
<remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="map_refined" to="/map_refined"/>
+ <!-- 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 dialogue arbiter (dialoguearbiter) -->
- <node pkg="dialoguearbiter" name="dialoguearbiter" type="node" output="screen">
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
+ <!-- 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 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 Robot GUI (robotgui) -->
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 1107a8f1e57aa2bb414ede583c4921d4155f7d35..8a8d3c211d40b839ae4309858290ca8bbdbd39fb 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
@@ -1,66 +1,31 @@
<launch>
<!-- this launch file starts all SPRING nodes except for PAL nodes. -->
- <!-- 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) -->
- <node pkg="voicespeechmatching" name="voicespeechmatching" type="node" output="screen">
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
- <remap from="speech_streams" to="/audio/speech_streams"/>
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
- </node>
-
- <!-- 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) -->
- <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- </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">
+ <!-- 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 Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+ <!-- 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 ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- launching interaction_manager (interaction_manager) -->
+ <node pkg="interaction_manager" name="interaction_manager" 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 People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
<!-- launching F-formation (fformation) -->
@@ -69,11 +34,23 @@
<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"/>
+ <!-- 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 Person re-identification (personreidentification) -->
+ <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
- <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
+ </node>
+
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
<!-- launching User visual focus (uservisualfocus) -->
@@ -81,8 +58,15 @@
<remap from="gaze" to="/humans/interactions/gaze"/>
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" 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 audio_processing (audio_processing) -->
+ <node pkg="audio_processing" name="audio_processing" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
<!-- launching Speaker identification (speakeridentification) -->
@@ -91,30 +75,48 @@
<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"/>
+ <!-- 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 Person re-identification (personreidentification) -->
- <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
<remap from="face_roi" to="/humans/faces/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 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 plan_actions (plan_actions) -->
+ <node pkg="plan_actions" name="plan_actions" type="node" output="screen">
</node>
- <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
- <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="detected_objects" to="/detected_objects"/>
+ </node>
+
+ <!-- launching Body 2D pose (body2dpose) -->
+ <node pkg="body2dpose" name="body2dpose" type="node" output="screen">
<remap from="image_raw" to="/camera_head/color/image_raw"/>
<remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ </node>
+
+ <!-- launching google_asr (google_asr) -->
+ <node pkg="google_asr" name="google_asr" type="node" output="screen">
+ <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+ </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_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+ <remap from="body_id" to="/humans/persons/*/body_id"/>
+ <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
</node>
<!-- launching Face detection (facedetection) -->
@@ -123,33 +125,31 @@
<remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching plan_actions (plan_actions) -->
- <node pkg="plan_actions" name="plan_actions" type="node" output="screen">
- </node>
-
- <!-- 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"/>
+ <!-- launching Voice speech matching (voicespeechmatching) -->
+ <node pkg="voicespeechmatching" name="voicespeechmatching" type="node" output="screen">
+ <remap from="speech_streams" to="/audio/speech_streams"/>
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</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 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 Depth estimation from monocular (depthestimationfrommonocular) -->
+ <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" 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 Scene understanding (sceneunderstanding) -->
+ <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 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 Robot GUI (robotgui) -->
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 80c477aa7ae22ef313ea7558c7b73e06dc9de8ad..f4df1ddca36bf628dc7a863ee4a04fb7c261f745 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
@@ -1,77 +1,70 @@
<launch>
<!-- this launch file starts all SPRING nodes except for UNITN nodes. -->
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
- <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <remap from="detected_objects" to="/detected_objects"/>
</node>
- <!-- launching Voice speech matching (voicespeechmatching) -->
- <node pkg="voicespeechmatching" name="voicespeechmatching" type="node" output="screen">
+ <!-- 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"/>
- <remap from="speech_streams" to="/audio/speech_streams"/>
- <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching robot_behavior (robot_behavior) -->
- <node pkg="robot_behavior" name="robot_behavior" type="node" output="screen">
- <remap from="groups" to="/humans/interactions/groups"/>
+ <!-- launching interaction_manager (interaction_manager) -->
+ <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
</node>
- <!-- launching RGB-D + camera_info (rgbdcamera_info) -->
- <node pkg="rgbdcamera_info" name="rgbdcamera_info" type="node" output="screen">
- <remap from="image_raw" to="/camera_torso/color/image_raw"/>
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" 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 Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" 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 ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <remap from="map_refined" to="/map_refined"/>
+ </node>
+
+ <!-- launching 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 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"/>
+ <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"/>
- <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"/>
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" 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 Speaker identification (speakeridentification) -->
- <node pkg="speakeridentification" name="speakeridentification" type="node" output="screen">
- <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
- <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="respeaker_multichan_node.py" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_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"/>
+ <!-- launching audio_processing (audio_processing) -->
+ <node pkg="audio_processing" name="audio_processing" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="ego_audio" to="/audio/ego_audio"/>
</node>
<!-- launching ORB SLAM (orbslam) -->
@@ -80,64 +73,71 @@
<remap from="map" to="/map"/>
</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 Speaker identification (speakeridentification) -->
+ <node pkg="speakeridentification" name="speakeridentification" type="node" output="screen">
+ <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
- <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
- <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+ <!-- launching RGB head (rgbhead) -->
+ <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
<remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
</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 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 plan_actions (plan_actions) -->
<node pkg="plan_actions" name="plan_actions" type="node" output="screen">
</node>
- <!-- launching RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
<remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="detected_objects" to="/detected_objects"/>
</node>
- <!-- 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"/>
+ <!-- launching google_asr (google_asr) -->
+ <node pkg="google_asr" name="google_asr" type="node" output="screen">
+ <remap from="postprocess_audio_streams" to="/audio/postprocess_audio_streams"/>
</node>
<!-- launching Robot functional layer (robotfunctionallayer) -->
<node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching interaction_manager (interaction_manager) -->
- <node pkg="interaction_manager" name="interaction_manager" type="node" output="screen">
+ <!-- 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_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
+ <remap from="body_id" to="/humans/persons/*/body_id"/>
+ <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
</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 Sound source localisation (soundsourcelocalisation) -->
- <node pkg="soundsourcelocalisation" name="soundsourcelocalisation" type="node" output="screen">
+ <!-- launching Voice speech matching (voicespeechmatching) -->
+ <node pkg="voicespeechmatching" name="voicespeechmatching" type="node" output="screen">
+ <remap from="speech_streams" to="/audio/speech_streams"/>
<remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="map_refined" to="/map_refined"/>
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <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 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 Robot GUI (robotgui) -->
diff --git a/spring-mock-ws/src/springarchitecture/package.xml b/spring-mock-ws/src/springarchitecture/package.xml
index 76bd2e598c4efef9c0917c8359e9b079134c9d56..e0dd7aa9165f1d8b12db60636c2e3d6db058396f 100644
--- a/spring-mock-ws/src/springarchitecture/package.xml
+++ b/spring-mock-ws/src/springarchitecture/package.xml
@@ -2,51 +2,51 @@
<package format="3">
<name>springarchitecture</name>
<version>0.3.2</version>
- <description>EU H2020 SPRING architecture. Auto-generated by Boxology 1.3.2.</description>
+ <description>EU H2020 SPRING architecture. Auto-generated by Boxology 1.3.3.</description>
<maintainer email="todo@example.com">TODO</maintainer>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
- <depend>asr</depend>
- <depend>voicespeechmatching</depend>
- <depend>robot_behavior</depend>
- <depend>userattentionestimation</depend>
- <depend>rgbdcamera_info</depend>
<depend>activityreco</depend>
- <depend>body2dpose</depend>
- <depend>maskdetection</depend>
<depend>semanticmapping</depend>
- <depend>depthestimationfrommonocular</depend>
- <depend>sceneunderstanding</depend>
- <depend>rosopenpose</depend>
- <depend>hri_fullbody</depend>
- <depend>objectdetectionidentificationlocalisation</depend>
+ <depend>userattentionestimation</depend>
+ <depend>soundsourcelocalisation</depend>
+ <depend>interaction_manager</depend>
+ <depend>people3dtracker</depend>
+ <depend>hri_msgs</depend>
+ <depend>speechsynthesis</depend>
<depend>fisheye</depend>
<depend>fformation</depend>
- <depend>nonverbalbehaviours</depend>
- <depend>uservisualfocus</depend>
- <depend>people3dtracker</depend>
- <depend>speakeridentification</depend>
- <depend>personmanager</depend>
+ <depend>occupancymap</depend>
+ <depend>dialoguearbiter</depend>
+ <depend>hri_fullbody</depend>
<depend>personreidentification</depend>
- <depend>orbslam</depend>
- <depend>speechanalysis</depend>
- <depend>multipeoplebodytracker</depend>
+ <depend>rosopenpose</depend>
+ <depend>uservisualfocus</depend>
+ <depend>robot_behavior</depend>
<depend>respeaker_ros</depend>
- <depend>facedetection</depend>
- <depend>spring_msgs</depend>
- <depend>plan_actions</depend>
+ <depend>audio_processing</depend>
+ <depend>orbslam</depend>
+ <depend>speakeridentification</depend>
<depend>rgbhead</depend>
<depend>visualslam3dmap</depend>
+ <depend>nonverbalbehaviours</depend>
+ <depend>plan_actions</depend>
+ <depend>objectdetectionidentificationlocalisation</depend>
+ <depend>body2dpose</depend>
+ <depend>google_asr</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>personmanager</depend>
+ <depend>facedetection</depend>
+ <depend>spring_msgs</depend>
+ <depend>rgbdcamera_info</depend>
+ <depend>voicespeechmatching</depend>
+ <depend>maskdetection</depend>
+ <depend>depthestimationfrommonocular</depend>
+ <depend>sceneunderstanding</depend>
+ <depend>multipeoplebodytracker</depend>
<depend>robotgui</depend>
<depend>softbiometrics</depend>
diff --git a/spring-mock-ws/src/userattentionestimation/package.xml b/spring-mock-ws/src/userattentionestimation/package.xml
index f0851030139fbc41448d6716e815527eb5f5c0f3..8411c33ab37a788a826ddf5456ec7bdc313a5dc6 100644
--- a/spring-mock-ws/src/userattentionestimation/package.xml
+++ b/spring-mock-ws/src/userattentionestimation/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>userattentionestimation</name>
<version>1.0.0</version>
- <description>User attention estimation (UNITN) . Auto-generated by Boxology 1.3.2.</description>
+ <description>User attention estimation (UNITN) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/uservisualfocus/package.xml b/spring-mock-ws/src/uservisualfocus/package.xml
index 75490ea4324766bc455f6c3c676ea4a739036fe4..cdc15bee71d1eac720324e98af4cf5b47db6dd18 100644
--- a/spring-mock-ws/src/uservisualfocus/package.xml
+++ b/spring-mock-ws/src/uservisualfocus/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>uservisualfocus</name>
<version>1.0.0</version>
- <description>User visual focus (UNITN) . Auto-generated by Boxology 1.3.2.</description>
+ <description>User visual focus (UNITN) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/uservisualfocus/src/main.cpp b/spring-mock-ws/src/uservisualfocus/src/main.cpp
index 9ff959ad15f16a47e50004c1b1071b938aaf9f82..7cc881148c9b45d3e98914bd7fc5b22d08fb8171 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
- 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
+ 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
whoslookingatwhat_pub_ = nh->advertise<std_msgs::Empty>("whoslookingatwhat", 1);
@@ -47,27 +47,27 @@ class UserVisualFocus {
~UserVisualFocus() {}
private:
- void attentionCallback(const std_msgs::Empty::ConstPtr& msg)
+ void sceneCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("uservisualfocus: received message: " << msg);
}
- void depthCallback(const std_msgs::Empty::ConstPtr& msg)
+ void gazedirectionCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("uservisualfocus: received message: " << msg);
}
- void sceneCallback(const std_msgs::Empty::ConstPtr& msg)
+ void attentionCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("uservisualfocus: received message: " << msg);
}
- void gazedirectionCallback(const std_msgs::Empty::ConstPtr& msg)
+ void depthCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("uservisualfocus: received message: " << msg);
}
- ros::Subscriber attention_sub_;
- ros::Subscriber depth_sub_;
ros::Subscriber scene_sub_;
ros::Subscriber gazedirection_sub_;
+ ros::Subscriber attention_sub_;
+ ros::Subscriber depth_sub_;
ros::Publisher whoslookingatwhat_pub_;
ros::Publisher gaze_pub_;
diff --git a/spring-mock-ws/src/visualslam3dmap/package.xml b/spring-mock-ws/src/visualslam3dmap/package.xml
index 2eb1f3fbf16b38ecb64a89dfe8c7f9cc3d4e8bfd..7261513db72a9cacc2e03a459b4ed2be5e26a410 100644
--- a/spring-mock-ws/src/visualslam3dmap/package.xml
+++ b/spring-mock-ws/src/visualslam3dmap/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>visualslam3dmap</name>
<version>1.0.0</version>
- <description>Visual SLAM + 3D map (CVUT) . Auto-generated by Boxology 1.3.2.</description>
+ <description>Visual SLAM + 3D map (CVUT) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/visualslam3dmap/src/main.cpp b/spring-mock-ws/src/visualslam3dmap/src/main.cpp
index 6f5fc7f122e9799973ff9ff3bdb286f460c9424e..78a6eacbfdd36b4dac7977918fb4739127503c67 100644
--- a/spring-mock-ws/src/visualslam3dmap/src/main.cpp
+++ b/spring-mock-ws/src/visualslam3dmap/src/main.cpp
@@ -23,17 +23,17 @@
#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_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_torso_sub_ = nh->subscribe("image_torso", 1, &VisualSlam3dMap::image_torsoCallback, this);
image_head_sub_ = nh->subscribe("image_head", 1, &VisualSlam3dMap::image_headCallback, this);
// ATTENTION: this topic is not defined in the architecture design
@@ -43,11 +43,11 @@ class VisualSlam3dMap {
~VisualSlam3dMap() {}
private:
- 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_torsoCallback(const sensor_msgs::Image::ConstPtr& msg)
{
ROS_INFO_STREAM("visualslam3dmap: received message: " << msg);
}
@@ -56,8 +56,8 @@ class VisualSlam3dMap {
ROS_INFO_STREAM("visualslam3dmap: received message: " << msg);
}
- ros::Subscriber image_torso_sub_;
ros::Subscriber localisationprior_sub_;
+ ros::Subscriber image_torso_sub_;
ros::Subscriber image_head_sub_;
ros::Publisher dense3dmap_pub_;
diff --git a/spring-mock-ws/src/voicespeechmatching/package.xml b/spring-mock-ws/src/voicespeechmatching/package.xml
index 5673ba8313f55ab96f735d3d793ce6ecc72c67e4..57b85f9edd132ed0f8c1b34210e2b013aa5ffeec 100644
--- a/spring-mock-ws/src/voicespeechmatching/package.xml
+++ b/spring-mock-ws/src/voicespeechmatching/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>voicespeechmatching</name>
<version>1.0.0</version>
- <description>Voice speech matching (BIU) . Auto-generated by Boxology 1.3.2.</description>
+ <description>Voice speech matching (BIU) . Auto-generated by Boxology 1.3.3.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/voicespeechmatching/src/main.cpp b/spring-mock-ws/src/voicespeechmatching/src/main.cpp
index acdcf368f29f790b20a0a566159b04380f04c4f8..2dbcc2d45b7aef373f5a71e5368aea8c8b85c7d4 100644
--- a/spring-mock-ws/src/voicespeechmatching/src/main.cpp
+++ b/spring-mock-ws/src/voicespeechmatching/src/main.cpp
@@ -30,8 +30,8 @@ class VoiceSpeechMatching {
public:
VoiceSpeechMatching(ros::NodeHandle* nh) {
- voice_audio_sub_ = nh->subscribe("voice_audio", 1, &VoiceSpeechMatching::voice_audioCallback, this);
speech_streams_sub_ = nh->subscribe("speech_streams", 1, &VoiceSpeechMatching::speech_streamsCallback, this);
+ voice_audio_sub_ = nh->subscribe("voice_audio", 1, &VoiceSpeechMatching::voice_audioCallback, this);
voice_speech_pub_ = nh->advertise<std_msgs::String>("voice_speech", 1);
}
@@ -39,17 +39,17 @@ class VoiceSpeechMatching {
~VoiceSpeechMatching() {}
private:
- void voice_audioCallback(const audio_common_msgs::AudioData::ConstPtr& msg)
+ void speech_streamsCallback(const std_msgs::String::ConstPtr& msg)
{
ROS_INFO_STREAM("voicespeechmatching: received message: " << msg);
}
- void speech_streamsCallback(const std_msgs::String::ConstPtr& msg)
+ void voice_audioCallback(const audio_common_msgs::AudioData::ConstPtr& msg)
{
ROS_INFO_STREAM("voicespeechmatching: received message: " << msg);
}
- ros::Subscriber voice_audio_sub_;
ros::Subscriber speech_streams_sub_;
+ ros::Subscriber voice_audio_sub_;
ros::Publisher voice_speech_pub_;