regenerated ROS nodes based on arch v0.2.0 (using boxology 1.3.2)

spring-mock-ws/fetch_released_nodes.sh

@@ -12,6 +12,15 @@ 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;
 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;
+fi
 if cd src/respeaker_ros; 
 then
     echo "respeaker_ros: pulling latest changes from master...";

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 1.3.1.</description>
+    <description>Activity reco (UNITN) . Auto-generated by Boxology 1.3.2.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->

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_;
 

spring-mock-ws/src/asr/CMakeLists.txt

@@ -9,6 +9,7 @@ add_compile_options(-std=c++11)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   roscpp
+  audio_common_msgs
   std_msgs
 )
 

spring-mock-ws/src/asr/package.xml

@@ -2,7 +2,7 @@
 <package format="3">
     <name>asr</name>
     <version>1.0.0</version>
-    <description>ASR (BIU) . Auto-generated by Boxology 1.3.1.</description>
+    <description>ASR (BIU) . Auto-generated by Boxology 1.3.2.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
@@ -50,6 +50,7 @@
   <!--   <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>

spring-mock-ws/src/asr/src/main.cpp

@@ -23,30 +23,29 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
-#include "std_msgs/Empty.h"
+#include "audio_common_msgs/AudioData.h"
+#include "std_msgs/String.h"
 
 class Asr {
    public:
     Asr(ros::NodeHandle* nh) {
 
-        // ATTENTION: this topic is not defined in the architecture design
-        input_sub_ = nh->subscribe("input", 1, &Asr::inputCallback, this);
+        voice_audio_sub_ = nh->subscribe("voice_audio", 1, &Asr::voice_audioCallback, this);
 
-        // ATTENTION: this topic is not defined in the architecture design
-        hvvoiceidspeech_pub_ = nh->advertise<std_msgs::Empty>("hvvoiceidspeech", 1);
+        voice_speech_pub_ = nh->advertise<std_msgs::String>("voice_speech", 1);
     }
 
     ~Asr() {}
 
    private:
-    void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+    void voice_audioCallback(const audio_common_msgs::AudioData::ConstPtr& msg)
     {
         ROS_INFO_STREAM("asr: received message: " << msg);
     }
 
-    ros::Subscriber input_sub_;
+    ros::Subscriber voice_audio_sub_;
 
-    ros::Publisher hvvoiceidspeech_pub_;
+    ros::Publisher voice_speech_pub_;
 
 };
 

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 1.3.1.</description>
+    <description>Body 2D pose (UNITN) . Auto-generated by Boxology 1.3.2.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->

spring-mock-ws/src/body2dpose/src/main.cpp

@@ -23,9 +23,9 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
+#include "hri_msgs/Skeleton2D.h"
 #include "sensor_msgs/Image.h"
 #include "hri_msgs/RegionOfInterestStamped.h"
-#include "hri_msgs/Skeleton2D.h"
 
 class Body2dPose {
    public:

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 1.3.1.</description>
+    <description>Depth estimation from monocular (UNITN) . Auto-generated by Boxology 1.3.2.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->

spring-mock-ws/src/dialoguemanager/package.xml

@@ -2,7 +2,7 @@
 <package format="3">
     <name>dialoguemanager</name>
     <version>1.0.0</version>
-    <description>Dialogue manager (HWU) . Auto-generated by Boxology 1.3.1.</description>
+    <description>Dialogue manager (HWU) . Auto-generated by Boxology 1.3.2.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->

spring-mock-ws/src/dialoguemanager/src/main.cpp

@@ -23,40 +23,40 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
+#include "std_msgs/String.h"
 #include "std_msgs/Empty.h"
 
 class DialogueManager {
    public:
     DialogueManager(ros::NodeHandle* nh) {
 
+        voice_speech_sub_ = nh->subscribe("voice_speech", 1, &DialogueManager::voice_speechCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         interactionmessages_sub_ = nh->subscribe("interactionmessages", 1, &DialogueManager::interactionmessagesCallback, this);
-        // ATTENTION: this topic is not defined in the architecture design
-        speech_sub_ = nh->subscribe("speech", 1, &DialogueManager::speechCallback, this);
 
-        // ATTENTION: this topic is not defined in the architecture design
-        nextutterance_pub_ = nh->advertise<std_msgs::Empty>("nextutterance", 1);
         // 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);
     }
 
     ~DialogueManager() {}
 
    private:
-    void interactionmessagesCallback(const std_msgs::Empty::ConstPtr& msg)
+    void voice_speechCallback(const std_msgs::String::ConstPtr& msg)
     {
         ROS_INFO_STREAM("dialoguemanager: received message: " << msg);
     }
-    void speechCallback(const std_msgs::Empty::ConstPtr& msg)
+    void interactionmessagesCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("dialoguemanager: received message: " << msg);
     }
 
+    ros::Subscriber voice_speech_sub_;
     ros::Subscriber interactionmessages_sub_;
-    ros::Subscriber speech_sub_;
 
-    ros::Publisher nextutterance_pub_;
     ros::Publisher dialoguestate_pub_;
+    ros::Publisher nextutterance_pub_;
 
 };
 

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 1.3.1.</description>
+    <description>Face detection (UNITN) . Auto-generated by Boxology 1.3.2.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->

spring-mock-ws/src/facedetection/src/main.cpp

@@ -23,8 +23,8 @@
 
 #include "ros/ros.h"
 #include "std_msgs/String.h"
-#include "hri_msgs/RegionOfInterestStamped.h"
 #include "sensor_msgs/Image.h"
+#include "hri_msgs/RegionOfInterestStamped.h"
 
 class FaceDetection {
    public:

spring-mock-ws/src/fformation/CMakeLists.txt

@@ -10,7 +10,6 @@ add_compile_options(-std=c++11)
 find_package(catkin REQUIRED COMPONENTS
   roscpp
   hri_msgs
-  std_msgs
   tf
 )
 

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 1.3.1.</description>
+    <description>F-formation (UNITN) . Auto-generated by Boxology 1.3.2.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
@@ -51,7 +51,6 @@
   <buildtool_depend>catkin</buildtool_depend>
   <exec_depend>roscpp</exec_depend>
   <depend>hri_msgs</depend>
-  <depend>std_msgs</depend>
   <depend>tf</depend>
 
   <export>

spring-mock-ws/src/fformation/src/main.cpp

@@ -24,15 +24,14 @@
 #include "ros/ros.h"
 #include "std_msgs/String.h"
 #include "tf/transform_listener.h"
+#include "hri_msgs/GazesStamped.h"
 #include "hri_msgs/GroupsStamped.h"
-#include "std_msgs/Empty.h"
 
 class Fformation {
    public:
     Fformation(ros::NodeHandle* nh) {
 
-        // ATTENTION: this topic is not defined in the architecture design
-        whoslookingatwho_sub_ = nh->subscribe("whoslookingatwho", 1, &Fformation::whoslookingatwhoCallback, this);
+        gaze_sub_ = nh->subscribe("gaze", 1, &Fformation::gazeCallback, this);
 
         groups_pub_ = nh->advertise<hri_msgs::GroupsStamped>("groups", 1);
     }
@@ -40,12 +39,12 @@ class Fformation {
     ~Fformation() {}
 
    private:
-    void whoslookingatwhoCallback(const std_msgs::Empty::ConstPtr& msg)
+    void gazeCallback(const hri_msgs::GazesStamped::ConstPtr& msg)
     {
         ROS_INFO_STREAM("fformation: received message: " << msg);
     }
 
-    ros::Subscriber whoslookingatwho_sub_;
+    ros::Subscriber gaze_sub_;
 
     ros::Publisher groups_pub_;
 

spring-mock-ws/src/highlevelplanner/package.xml

@@ -2,7 +2,7 @@
 <package format="3">
     <name>highlevelplanner</name>
     <version>1.0.0</version>
-    <description>High-level planner (HWU) . Auto-generated by Boxology 1.3.1.</description>
+    <description>High-level planner (HWU) . Auto-generated by Boxology 1.3.2.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->

spring-mock-ws/src/highlevelplanner/src/main.cpp

@@ -29,51 +29,51 @@ class HighlevelPlanner {
    public:
     HighlevelPlanner(ros::NodeHandle* nh) {
 
-        // ATTENTION: this topic is not defined in the architecture design
-        dialoguestate_sub_ = nh->subscribe("dialoguestate", 1, &HighlevelPlanner::dialoguestateCallback, this);
-        // ATTENTION: this topic is not defined in the architecture design
-        tfpersons_sub_ = nh->subscribe("tfpersons", 1, &HighlevelPlanner::tfpersonsCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         semanticscenedescription_sub_ = nh->subscribe("semanticscenedescription", 1, &HighlevelPlanner::semanticscenedescriptionCallback, this);
         // ATTENTION: this topic is not defined in the architecture design
         demographics_sub_ = nh->subscribe("demographics", 1, &HighlevelPlanner::demographicsCallback, this);
+        // ATTENTION: this topic is not defined in the architecture design
+        dialoguestate_sub_ = nh->subscribe("dialoguestate", 1, &HighlevelPlanner::dialoguestateCallback, this);
+        // ATTENTION: this topic is not defined in the architecture design
+        tfpersons_sub_ = nh->subscribe("tfpersons", 1, &HighlevelPlanner::tfpersonsCallback, this);
 
+        // ATTENTION: this topic is not defined in the architecture design
+        output_pub_ = nh->advertise<std_msgs::Empty>("output", 1);
         // ATTENTION: this topic is not defined in the architecture design
         navgoals_pub_ = nh->advertise<std_msgs::Empty>("navgoals", 1);
         // ATTENTION: this topic is not defined in the architecture design
         interactionstate_pub_ = nh->advertise<std_msgs::Empty>("interactionstate", 1);
-        // ATTENTION: this topic is not defined in the architecture design
-        output_pub_ = nh->advertise<std_msgs::Empty>("output", 1);
     }
 
     ~HighlevelPlanner() {}
 
    private:
-    void dialoguestateCallback(const std_msgs::Empty::ConstPtr& msg)
+    void semanticscenedescriptionCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("highlevelplanner: received message: " << msg);
     }
-    void tfpersonsCallback(const std_msgs::Empty::ConstPtr& msg)
+    void demographicsCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("highlevelplanner: received message: " << msg);
     }
-    void semanticscenedescriptionCallback(const std_msgs::Empty::ConstPtr& msg)
+    void dialoguestateCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("highlevelplanner: received message: " << msg);
     }
-    void demographicsCallback(const std_msgs::Empty::ConstPtr& msg)
+    void tfpersonsCallback(const std_msgs::Empty::ConstPtr& msg)
     {
         ROS_INFO_STREAM("highlevelplanner: received message: " << msg);
     }
 
-    ros::Subscriber dialoguestate_sub_;
-    ros::Subscriber tfpersons_sub_;
     ros::Subscriber semanticscenedescription_sub_;
     ros::Subscriber demographics_sub_;
+    ros::Subscriber dialoguestate_sub_;
+    ros::Subscriber tfpersons_sub_;
 
+    ros::Publisher output_pub_;
     ros::Publisher navgoals_pub_;
     ros::Publisher interactionstate_pub_;
-    ros::Publisher output_pub_;
 
 };
 

spring-mock-ws/src/interactionmanager/package.xml

@@ -2,7 +2,7 @@
 <package format="3">
     <name>interactionmanager</name>
     <version>1.0.0</version>
-    <description>Interaction manager (HWU) . Auto-generated by Boxology 1.3.1.</description>
+    <description>Interaction manager (HWU) . Auto-generated by Boxology 1.3.2.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->

spring-mock-ws/src/interactionmanager/src/main.cpp

@@ -42,6 +42,8 @@ class InteractionManager {
         // ATTENTION: this topic is not defined in the architecture design
         tf_sub_ = nh->subscribe("tf", 1, &InteractionManager::tfCallback, this);
 
+        // 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
         verbalcommand_pub_ = nh->advertise<std_msgs::Empty>("verbalcommand", 1);
         // ATTENTION: this topic is not defined in the architecture design
@@ -50,8 +52,6 @@ class InteractionManager {
         activepersonid_pub_ = nh->advertise<std_msgs::Empty>("activepersonid", 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
-        whotolookat_pub_ = nh->advertise<std_msgs::Empty>("whotolookat", 1);
     }
 
     ~InteractionManager() {}
@@ -89,11 +89,11 @@ class InteractionManager {
     ros::Subscriber hppersonid_sub_;
     ros::Subscriber tf_sub_;
 
+    ros::Publisher whotolookat_pub_;
     ros::Publisher verbalcommand_pub_;
     ros::Publisher navgoals_pub_;
     ros::Publisher activepersonid_pub_;
     ros::Publisher gestures_pub_;
-    ros::Publisher whotolookat_pub_;
 
 };