diff --git a/spring-mock-ws/fetch_released_nodes.sh b/spring-mock-ws/fetch_released_nodes.sh
index a951836f671b0fb5a2bf45047a41c893042c8aa8..8b99af9eeda8131f04bf43c1b562dfddb697244d 100644
--- a/spring-mock-ws/fetch_released_nodes.sh
+++ b/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...";
diff --git a/spring-mock-ws/src/activityreco/package.xml b/spring-mock-ws/src/activityreco/package.xml
index 82d60ce42ec976f79662900fbeaae984bb6f554f..0d5b1a01bd28c25ef322834f53779098de436fb1 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 1.3.1.</description>
+ <description>Activity reco (UNITN) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
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
index 7dba964a9f3e564f871f1b7767a2a02ce65d5f5a..9a26ab658b7d6f1db84ab180c4b28efbf724fed3 100644
--- a/spring-mock-ws/src/asr/CMakeLists.txt
+++ b/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
)
diff --git a/spring-mock-ws/src/asr/package.xml b/spring-mock-ws/src/asr/package.xml
index db019b2cfac9483d2f6261606a13f96d6e518c1d..f9e396a2287904fef773701e03a9a9d8aa568f2e 100644
--- a/spring-mock-ws/src/asr/package.xml
+++ b/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>
diff --git a/spring-mock-ws/src/asr/src/main.cpp b/spring-mock-ws/src/asr/src/main.cpp
index 5c6db060db4cdad780f5f508f58f684af5d41875..7b7c334afdbbe0eb24d03eb326ddc4c249321cb4 100644
--- a/spring-mock-ws/src/asr/src/main.cpp
+++ b/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_;
};
diff --git a/spring-mock-ws/src/body2dpose/package.xml b/spring-mock-ws/src/body2dpose/package.xml
index e53f394f5d23910ce716ad8156813f791d6b425f..20924c2eb99af0147776d668468e0e48f4bdbc2f 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 1.3.1.</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: -->
diff --git a/spring-mock-ws/src/body2dpose/src/main.cpp b/spring-mock-ws/src/body2dpose/src/main.cpp
index 91cb3810988f722745a2411ed2f8f90b24d367fe..6fc66562f639491ed50b6aab5608b307e0418dd9 100644
--- a/spring-mock-ws/src/body2dpose/src/main.cpp
+++ b/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:
diff --git a/spring-mock-ws/src/depthestimationfrommonocular/package.xml b/spring-mock-ws/src/depthestimationfrommonocular/package.xml
index d48c7fc2824ea114da7d8726f3fac1155b44e755..9a3c8789faa829b4a14dc6c433be071cdc9936ea 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 1.3.1.</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: -->
diff --git a/spring-mock-ws/src/dialoguemanager/package.xml b/spring-mock-ws/src/dialoguemanager/package.xml
index 7483c32945f0d74e7ec8fe334fd5ba8d9d1c5425..077b2bbd6ead9e7043b771aeb279ae09d29e481f 100644
--- a/spring-mock-ws/src/dialoguemanager/package.xml
+++ b/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: -->
diff --git a/spring-mock-ws/src/dialoguemanager/src/main.cpp b/spring-mock-ws/src/dialoguemanager/src/main.cpp
index c65be92f6ee6684d12df9df21c4828e87ba7352f..392614fd96db7e411f22b2a08817224b9f41478a 100644
--- a/spring-mock-ws/src/dialoguemanager/src/main.cpp
+++ b/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_;
};
diff --git a/spring-mock-ws/src/facedetection/package.xml b/spring-mock-ws/src/facedetection/package.xml
index 6766c11d84c4d3744a8d834ba6bcf1b56db1711d..dfcfb47a1b1785868216b8d704a7a9afe504bb65 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 1.3.1.</description>
+ <description>Face detection (UNITN) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/facedetection/src/main.cpp b/spring-mock-ws/src/facedetection/src/main.cpp
index e6157ba2656b21ba6ae81f767efccf0befbc77cb..60f8bd371b4b3e93e155d4ec063b06620fe057b5 100644
--- a/spring-mock-ws/src/facedetection/src/main.cpp
+++ b/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:
diff --git a/spring-mock-ws/src/fformation/CMakeLists.txt b/spring-mock-ws/src/fformation/CMakeLists.txt
index 732eab3354ebfeb2acbdc89aa7302b72ecd614f1..a023ce974a7f731e110f2632a93a270b9418c5d4 100644
--- a/spring-mock-ws/src/fformation/CMakeLists.txt
+++ b/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
)
diff --git a/spring-mock-ws/src/fformation/package.xml b/spring-mock-ws/src/fformation/package.xml
index c9ddbe015501e4a1d02fd3ab72f162b5b29d9619..8f5e9eb259d5a837b2a180b5d1e86b990316904b 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 1.3.1.</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>
diff --git a/spring-mock-ws/src/fformation/src/main.cpp b/spring-mock-ws/src/fformation/src/main.cpp
index 2af965e80bf80705dd232957c37d8e836315aa7f..daccaeac55032e76eab31c66960e73fea007feba 100644
--- a/spring-mock-ws/src/fformation/src/main.cpp
+++ b/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_;
diff --git a/spring-mock-ws/src/highlevelplanner/package.xml b/spring-mock-ws/src/highlevelplanner/package.xml
index b5bf126399a200ca63d84b6d5e5d304e6d0352eb..5f2dc00d6c414e7e93230300132ff85e7264b925 100644
--- a/spring-mock-ws/src/highlevelplanner/package.xml
+++ b/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: -->
diff --git a/spring-mock-ws/src/highlevelplanner/src/main.cpp b/spring-mock-ws/src/highlevelplanner/src/main.cpp
index 622f5091de11427a7648aee6e56e7a8a2b252fdc..73702a87aa84405e9dd80fcb353fdefda4bf2647 100644
--- a/spring-mock-ws/src/highlevelplanner/src/main.cpp
+++ b/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_;
};
diff --git a/spring-mock-ws/src/interactionmanager/package.xml b/spring-mock-ws/src/interactionmanager/package.xml
index 99b0068fa93c1c1b9c11f412d040d33b4cbc3a55..d885bb0006448af99273ba5912143455068cf736 100644
--- a/spring-mock-ws/src/interactionmanager/package.xml
+++ b/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: -->
diff --git a/spring-mock-ws/src/interactionmanager/src/main.cpp b/spring-mock-ws/src/interactionmanager/src/main.cpp
index 104a72d8da21f4c21f2f71a32e6b0121a91edf71..6469cbe7eb93195e903b8efa96903c67a959c9cf 100644
--- a/spring-mock-ws/src/interactionmanager/src/main.cpp
+++ b/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_;
};
diff --git a/spring-mock-ws/src/maskdetection/package.xml b/spring-mock-ws/src/maskdetection/package.xml
index 92145550f82579075eadd95b98992ec79fb4ba90..16911fea923bc7398ae14fa5f9a7772535b599d3 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 1.3.1.</description>
+ <description>Mask detection (UNITN) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/multipeoplebodytracker/package.xml b/spring-mock-ws/src/multipeoplebodytracker/package.xml
index 69bd48b6f5129fb504ddf3b3a344e9109f22dfaa..b1ecc3d8791a05af3efc629954740006a65b3196 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 1.3.1.</description>
+ <description>Multi-people body tracker (INRIA) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/multipeoplebodytracker/src/main.cpp b/spring-mock-ws/src/multipeoplebodytracker/src/main.cpp
index 02a902b968a52808d1cc12fc3d3f8eb1d2d45624..e26eceac029f0f1c47f8d5abb91eb91f9ada0393 100644
--- a/spring-mock-ws/src/multipeoplebodytracker/src/main.cpp
+++ b/spring-mock-ws/src/multipeoplebodytracker/src/main.cpp
@@ -23,8 +23,8 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "sensor_msgs/Image.h"
#include "hri_msgs/RegionOfInterestStamped.h"
+#include "sensor_msgs/Image.h"
class MultipeopleBodyTracker {
public:
diff --git a/spring-mock-ws/src/nonverbalbehaviours/CMakeLists.txt b/spring-mock-ws/src/nonverbalbehaviours/CMakeLists.txt
index 8662e61fdd198615dfe141f463844f5731636922..548a917f512e3737e2740e17f63c18202c6e79b0 100644
--- a/spring-mock-ws/src/nonverbalbehaviours/CMakeLists.txt
+++ b/spring-mock-ws/src/nonverbalbehaviours/CMakeLists.txt
@@ -9,8 +9,8 @@ add_compile_options(-std=c++11)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
+ audio_common_msgs
hri_msgs
- std_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/nonverbalbehaviours/package.xml b/spring-mock-ws/src/nonverbalbehaviours/package.xml
index bce384f54b4e0faafa91800040d005f19f382bcc..c2599da29de9fd8db69c8c7b9ac885162b902541 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 1.3.1.</description>
+ <description>Non-verbal behaviours (UNITN) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -50,8 +50,8 @@
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roscpp</exec_depend>
+ <depend>audio_common_msgs</depend>
<depend>hri_msgs</depend>
- <depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/nonverbalbehaviours/src/main.cpp b/spring-mock-ws/src/nonverbalbehaviours/src/main.cpp
index 0e41dfe58c7a98fefbd5d9a0120d52738fffa10e..abab5666947a5d944cafd92a5d8473f40bf22fd7 100644
--- a/spring-mock-ws/src/nonverbalbehaviours/src/main.cpp
+++ b/spring-mock-ws/src/nonverbalbehaviours/src/main.cpp
@@ -23,16 +23,15 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "std_msgs/Empty.h"
#include "hri_msgs/Expression.h"
+#include "audio_common_msgs/AudioData.h"
#include "hri_msgs/RegionOfInterestStamped.h"
class NonverbalBehaviours {
public:
NonverbalBehaviours(ros::NodeHandle* nh) {
- // ATTENTION: this topic is not defined in the architecture design
- voicesfuture_sub_ = nh->subscribe("voicesfuture", 1, &NonverbalBehaviours::voicesfutureCallback, this);
+ voice_audio_sub_ = nh->subscribe("voice_audio", 1, &NonverbalBehaviours::voice_audioCallback, this);
face_roi_sub_ = nh->subscribe("face_roi", 1, &NonverbalBehaviours::face_roiCallback, this);
face_expression_pub_ = nh->advertise<hri_msgs::Expression>("face_expression", 1);
@@ -41,7 +40,7 @@ class NonverbalBehaviours {
~NonverbalBehaviours() {}
private:
- void voicesfutureCallback(const std_msgs::Empty::ConstPtr& msg)
+ void voice_audioCallback(const audio_common_msgs::AudioData::ConstPtr& msg)
{
ROS_INFO_STREAM("nonverbalbehaviours: received message: " << msg);
}
@@ -50,7 +49,7 @@ class NonverbalBehaviours {
ROS_INFO_STREAM("nonverbalbehaviours: received message: " << msg);
}
- ros::Subscriber voicesfuture_sub_;
+ ros::Subscriber voice_audio_sub_;
ros::Subscriber face_roi_sub_;
ros::Publisher face_expression_pub_;
diff --git a/spring-mock-ws/src/objectdetectionidentificationlocalisation/CMakeLists.txt b/spring-mock-ws/src/objectdetectionidentificationlocalisation/CMakeLists.txt
index 0888f7d92a3dfa605bd561ebb81dc93b9839e64d..93870efd84f6b29590177cd935065a18d16e0c21 100644
--- a/spring-mock-ws/src/objectdetectionidentificationlocalisation/CMakeLists.txt
+++ b/spring-mock-ws/src/objectdetectionidentificationlocalisation/CMakeLists.txt
@@ -10,7 +10,7 @@ add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
sensor_msgs
- std_msgs
+ spring_msgs
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/objectdetectionidentificationlocalisation/package.xml b/spring-mock-ws/src/objectdetectionidentificationlocalisation/package.xml
index c9cadae241aa2cddcd788f859f03e81946012cf4..5181682fd00fce3ebf4565db5ba5d01aab4fbe30 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 1.3.1.</description>
+ <description>Object detection/identification/localisation (CVUT) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -51,7 +51,7 @@
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roscpp</exec_depend>
<depend>sensor_msgs</depend>
- <depend>std_msgs</depend>
+ <depend>spring_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/objectdetectionidentificationlocalisation/src/main.cpp b/spring-mock-ws/src/objectdetectionidentificationlocalisation/src/main.cpp
index 9131a0b4a0257241e217ba661d046f5a022ea75b..dfcb497ecfe8bc4fb58d3ea3a32f8077cd38cbac 100644
--- a/spring-mock-ws/src/objectdetectionidentificationlocalisation/src/main.cpp
+++ b/spring-mock-ws/src/objectdetectionidentificationlocalisation/src/main.cpp
@@ -24,7 +24,7 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "sensor_msgs/Image.h"
-#include "std_msgs/Empty.h"
+#include "spring_msgs/DetectedObjectArray.h"
class ObjectDetectionidentificationlocalisation {
public:
@@ -32,8 +32,7 @@ class ObjectDetectionidentificationlocalisation {
image_raw_sub_ = nh->subscribe("image_raw", 1, &ObjectDetectionidentificationlocalisation::image_rawCallback, this);
- // ATTENTION: this topic is not defined in the architecture design
- tbddetected_objectsspring_msgsobjects_pub_ = nh->advertise<std_msgs::Empty>("tbddetected_objectsspring_msgsobjects", 1);
+ detected_objects_pub_ = nh->advertise<spring_msgs::DetectedObjectArray>("detected_objects", 1);
}
~ObjectDetectionidentificationlocalisation() {}
@@ -46,7 +45,7 @@ class ObjectDetectionidentificationlocalisation {
ros::Subscriber image_raw_sub_;
- ros::Publisher tbddetected_objectsspring_msgsobjects_pub_;
+ ros::Publisher detected_objects_pub_;
};
diff --git a/spring-mock-ws/src/occupancymap/package.xml b/spring-mock-ws/src/occupancymap/package.xml
index b4fe2f6a632bd3f13c78b84637d31078aee5e1e5..86ed4692feb3e33db40091086e70e769de3ff19e 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 1.3.1.</description>
+ <description>Occupancy map (CVUT) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/orbslam/package.xml b/spring-mock-ws/src/orbslam/package.xml
index a8a871989ddb6503823d3dc00610ae286b0f3538..990065fea483ec2b2d577d1fc566b0d7e4dde49b 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 1.3.1.</description>
+ <description>ORB SLAM (PAL) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/orbslam/src/main.cpp b/spring-mock-ws/src/orbslam/src/main.cpp
index 4fe2fc007aaf69a69a80accb355aec613ccc9b52..480430e3869ee4c6fd79c01e16203803a08afef9 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 "tf/transform_broadcaster.h"
#include "nav_msgs/OccupancyGrid.h"
#include "sensor_msgs/Image.h"
-#include "tf/transform_broadcaster.h"
class OrbSlam {
public:
diff --git a/spring-mock-ws/src/people3dposeestimation/CMakeLists.txt b/spring-mock-ws/src/people3dposeestimation/CMakeLists.txt
deleted file mode 100644
index 3ae3ad565c2f0fa8cbd3f5df272c8527d3537e16..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/people3dposeestimation/CMakeLists.txt
+++ /dev/null
@@ -1,203 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(people3dposeestimation)
-
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
- roscpp
- std_msgs
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-## * add a build_depend tag for "message_generation"
-## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-## but can be declared for certainty nonetheless:
-## * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-## * add "message_generation" and every package in MSG_DEP_SET to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * add "message_runtime" and every package in MSG_DEP_SET to
-## catkin_package(CATKIN_DEPENDS ...)
-## * uncomment the add_*_files sections below as needed
-## and list every .msg/.srv/.action file to be processed
-## * uncomment the generate_messages entry below
-## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-# FILES
-# Message1.msg
-# Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-# FILES
-# Service1.srv
-# Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-# FILES
-# Action1.action
-# Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-# DEPENDENCIES
-# std_msgs # Or other packages containing msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-## * add "dynamic_reconfigure" to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * uncomment the "generate_dynamic_reconfigure_options" section below
-## and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-# cfg/DynReconf1.cfg
-# cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-# INCLUDE_DIRS include
-# LIBRARIES people3dposeestimation
-# CATKIN_DEPENDS roscpp
-# DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(include)
-include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-# src/${PROJECT_NAME}/people3dposeestimation.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-add_executable(${PROJECT_NAME}_node src/main.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-target_link_libraries(${PROJECT_NAME}_node
- ${catkin_LIBRARIES}
-)
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# catkin_install_python(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-install(TARGETS ${PROJECT_NAME}_node
- RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-# FILES_MATCHING PATTERN "*.h"
-# PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-# # myfile1
-# # myfile2
-# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_people3dposeestimation.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
diff --git a/spring-mock-ws/src/people3dposeestimation/package.xml b/spring-mock-ws/src/people3dposeestimation/package.xml
deleted file mode 100644
index 6610672dc90603181eb9da695a9decb1ca809589..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/people3dposeestimation/package.xml
+++ /dev/null
@@ -1,58 +0,0 @@
-<?xml version="1.0"?>
-<package format="3">
- <name>people3dposeestimation</name>
- <version>1.0.0</version>
- <description>People 3D pose estimation (PAL) . Auto-generated by Boxology 1.3.1.</description>
-
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
- <!-- Example: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
- <maintainer email="todo@example.com">TODO</maintainer>
-
- <!-- One license tag required, multiple allowed, one license per tag -->
- <!-- Commonly used license strings: -->
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
- <license>BSD</license>
-
-
-
- <!-- Url tags are optional, but multiple are allowed, one per tag -->
- <!-- Optional attribute type can be: website, bugtracker, or repository -->
- <!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/NAME</url> -->
-
-
- <!-- Author tags are optional, multiple are allowed, one per tag -->
- <!-- Authors do not have to be maintainers, but could be -->
- <!-- Example: -->
- <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-
-
- <!-- The *depend tags are used to specify dependencies -->
- <!-- Dependencies can be catkin packages or system dependencies -->
- <!-- Examples: -->
- <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
- <!-- <depend>roscpp</depend> -->
- <!-- Note that this is equivalent to the following: -->
- <!-- <build_depend>roscpp</build_depend> -->
- <!-- <exec_depend>roscpp</exec_depend> -->
- <!-- Use build_depend for packages you need at compile time: -->
- <!-- <build_depend>message_generation</build_depend> -->
- <!-- Use build_export_depend for packages you need in order to build against this package: -->
- <!-- <build_export_depend>message_generation</build_export_depend> -->
- <!-- Use buildtool_depend for build tool packages: -->
- <!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use exec_depend for packages you need at runtime: -->
- <!-- <exec_depend>message_runtime</exec_depend> -->
- <!-- Use test_depend for packages you need only for testing: -->
- <!-- <test_depend>gtest</test_depend> -->
- <!-- Use doc_depend for packages you need only for building documentation: -->
- <!-- <doc_depend>doxygen</doc_depend> -->
- <buildtool_depend>catkin</buildtool_depend>
- <exec_depend>roscpp</exec_depend>
- <depend>std_msgs</depend>
-
- <export>
-
- </export>
-</package>
diff --git a/spring-mock-ws/src/people3dposeestimation/src/main.cpp b/spring-mock-ws/src/people3dposeestimation/src/main.cpp
deleted file mode 100644
index 515cd71c3e729edfa6b3ab6e0122268ef43dc432..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/people3dposeestimation/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"
-
-class People3dPoseEstimation {
- public:
- People3dPoseEstimation(ros::NodeHandle* nh) {
-
- // ATTENTION: this topic is not defined in the architecture design
- input_sub_ = nh->subscribe("input", 1, &People3dPoseEstimation::inputCallback, this);
-
- // ATTENTION: this topic is not defined in the architecture design
- output_pub_ = nh->advertise<std_msgs::Empty>("output", 1);
- }
-
- ~People3dPoseEstimation() {}
-
- private:
- void inputCallback(const std_msgs::Empty::ConstPtr& msg)
- {
- ROS_INFO_STREAM("people3dposeestimation: received message: " << msg);
- }
-
- ros::Subscriber input_sub_;
-
- ros::Publisher output_pub_;
-
-};
-
-int main(int argc, char** argv) {
- ros::init(argc, argv, "people3dposeestimation");
-
- // Initialize node parameters from launch file or command line.
- // Use a private node handle so that multiple instances of the node can be
- // run simultaneously while using different parameters.
- ros::NodeHandle private_node_handle_("~");
-
- auto people3dposeestimation = People3dPoseEstimation(&private_node_handle_);
-
- ROS_INFO("Node people3dposeestimation launched and ready.");
- ros::spin();
- return 0;
-}
diff --git a/spring-mock-ws/src/people3dtracker/package.xml b/spring-mock-ws/src/people3dtracker/package.xml
index 09ade3420e6ecd5ef55181668ca3a33fb15fecfb..9ef8562138c0394f61d22990e0cae37b1c7e197e 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 1.3.1.</description>
+ <description>People 3D tracker (INRIA) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/people3dtracker/src/main.cpp b/spring-mock-ws/src/people3dtracker/src/main.cpp
index 793b9cb8ff29ac987f0a65751f8f79e6ad2c6634..c804d2aa65a0465389d1b3ab9041d86672242e9e 100644
--- a/spring-mock-ws/src/people3dtracker/src/main.cpp
+++ b/spring-mock-ws/src/people3dtracker/src/main.cpp
@@ -33,9 +33,9 @@ class People3dTracker {
// 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
+ feetposition_sub_ = nh->subscribe("feetposition", 1, &People3dTracker::feetpositionCallback, this);
}
@@ -46,18 +46,18 @@ class People3dTracker {
{
ROS_INFO_STREAM("people3dtracker: received message: " << msg);
}
- void feetpositionCallback(const std_msgs::Empty::ConstPtr& msg)
+ void peopleroisCallback(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);
}
ros::Subscriber groundplane_sub_;
- ros::Subscriber feetposition_sub_;
ros::Subscriber peoplerois_sub_;
+ ros::Subscriber feetposition_sub_;
};
diff --git a/spring-mock-ws/src/personmanager/CMakeLists.txt b/spring-mock-ws/src/personmanager/CMakeLists.txt
index cb57b74f04e7ab14e577c2dd3a30031c0b4414c2..d3a8e90ad1ce9c8b2ab65a97bea1ba0e6699ba68 100644
--- a/spring-mock-ws/src/personmanager/CMakeLists.txt
+++ b/spring-mock-ws/src/personmanager/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
+ hri_msgs
std_msgs
tf
)
diff --git a/spring-mock-ws/src/personmanager/package.xml b/spring-mock-ws/src/personmanager/package.xml
index 4d2ec1a973cb49ef1f02898197779f07d4a178ca..7a2d7e26131d99f8d135fc9d54a75f4de2d1d0d6 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 1.3.1.</description>
+ <description>Person manager (INRIA) . 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>hri_msgs</depend>
<depend>std_msgs</depend>
<depend>tf</depend>
diff --git a/spring-mock-ws/src/personmanager/src/main.cpp b/spring-mock-ws/src/personmanager/src/main.cpp
index f394450912566c43d1e926251397389595678ae8..fefda8a6201aa03ca0f00da17859bc7450f6d37d 100644
--- a/spring-mock-ws/src/personmanager/src/main.cpp
+++ b/spring-mock-ws/src/personmanager/src/main.cpp
@@ -23,8 +23,10 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "std_msgs/Empty.h"
#include "tf/transform_broadcaster.h"
+#include "std_msgs/Empty.h"
+#include "std_msgs/String.h"
+#include "hri_msgs/AgeAndGender.h"
class PersonManager {
public:
@@ -33,14 +35,15 @@ class PersonManager {
// ATTENTION: this topic is not defined in the architecture design
tfvoices_sub_ = nh->subscribe("tfvoices", 1, &PersonManager::tfvoicesCallback, this);
// ATTENTION: this topic is not defined in the architecture design
- matchers_sub_ = nh->subscribe("matchers", 1, &PersonManager::matchersCallback, this);
- // ATTENTION: this topic is not defined in the architecture design
- demographics_sub_ = nh->subscribe("demographics", 1, &PersonManager::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
- hppersonid_pub_ = nh->advertise<std_msgs::Empty>("hppersonid", 1);
+ 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);
+
+ person_body_id_pub_ = nh->advertise<std_msgs::String>("person_body_id", 1);
+ person_voice_id_pub_ = nh->advertise<std_msgs::String>("person_voice_id", 1);
+ person_face_id_pub_ = nh->advertise<std_msgs::String>("person_face_id", 1);
+ person_demographics_pub_ = nh->advertise<hri_msgs::AgeAndGender>("person_demographics", 1);
}
~PersonManager() {}
@@ -50,25 +53,28 @@ class PersonManager {
{
ROS_INFO_STREAM("personmanager: received message: " << msg);
}
- void matchersCallback(const std_msgs::Empty::ConstPtr& msg)
+ void tffacesCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("personmanager: received message: " << msg);
}
- void demographicsCallback(const std_msgs::Empty::ConstPtr& msg)
+ void candidate_matchshri_msgsidsmatchCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("personmanager: received message: " << msg);
}
- void tffacesCallback(const std_msgs::Empty::ConstPtr& msg)
+ void face_demographicsCallback(const hri_msgs::AgeAndGender::ConstPtr& msg)
{
ROS_INFO_STREAM("personmanager: received message: " << msg);
}
ros::Subscriber tfvoices_sub_;
- ros::Subscriber matchers_sub_;
- ros::Subscriber demographics_sub_;
ros::Subscriber tffaces_sub_;
+ ros::Subscriber candidate_matchshri_msgsidsmatch_sub_;
+ ros::Subscriber face_demographics_sub_;
- ros::Publisher hppersonid_pub_;
+ ros::Publisher person_body_id_pub_;
+ ros::Publisher person_voice_id_pub_;
+ ros::Publisher person_face_id_pub_;
+ ros::Publisher person_demographics_pub_;
};
diff --git a/spring-mock-ws/src/personreidentification/package.xml b/spring-mock-ws/src/personreidentification/package.xml
index 19aca1cf1d81af258d400288447078f410f2083d..d4dce639882553ed0a5602659660a64201d43d31 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 1.3.1.</description>
+ <description>Person re-identification (UNITN) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/personreidentification/src/main.cpp b/spring-mock-ws/src/personreidentification/src/main.cpp
index c42ad670156700a63e3d50024edeceeee4857339..df23823119c373661fde6497ba00126188e2e89a 100644
--- a/spring-mock-ws/src/personreidentification/src/main.cpp
+++ b/spring-mock-ws/src/personreidentification/src/main.cpp
@@ -23,8 +23,8 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "std_msgs/Empty.h"
#include "hri_msgs/RegionOfInterestStamped.h"
+#include "std_msgs/Empty.h"
class PersonReidentification {
public:
@@ -33,9 +33,7 @@ class PersonReidentification {
face_roi_sub_ = nh->subscribe("face_roi", 1, &PersonReidentification::face_roiCallback, this);
// ATTENTION: this topic is not defined in the architecture design
- hpersonspersonidface_id_pub_ = nh->advertise<std_msgs::Empty>("hpersonspersonidface_id", 1);
- // ATTENTION: this topic is not defined in the architecture design
- hpersonspersonidbody_id_pub_ = nh->advertise<std_msgs::Empty>("hpersonspersonidbody_id", 1);
+ person_id_candidatehri_msgsidsmatch_pub_ = nh->advertise<std_msgs::Empty>("person_id_candidatehri_msgsidsmatch", 1);
}
~PersonReidentification() {}
@@ -48,8 +46,7 @@ class PersonReidentification {
ros::Subscriber face_roi_sub_;
- ros::Publisher hpersonspersonidface_id_pub_;
- ros::Publisher hpersonspersonidbody_id_pub_;
+ ros::Publisher person_id_candidatehri_msgsidsmatch_pub_;
};
diff --git a/spring-mock-ws/src/rgbdcamera_info/package.xml b/spring-mock-ws/src/rgbdcamera_info/package.xml
index bd0ff9b8fec9e26b4706e303c984afef95c07ae6..7cc5ed4d9cee9ab6cab0e899e053236109534956 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 1.3.1.</description>
+ <description>RGB-D + camera_info (PAL) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/rgbhead/package.xml b/spring-mock-ws/src/rgbhead/package.xml
index 683601dc69b5124e178c740f75da7791b0570c36..0e572bb3900fbd87a9ae6168d1395efb28b7f835 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 1.3.1.</description>
+ <description>RGB head (PAL) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/robotfunctionallayer/package.xml b/spring-mock-ws/src/robotfunctionallayer/package.xml
index c80a6e412e62a635f2643d2980eb981f0244f08a..91f3bcd4cec0e5c765aaadb563149aad154767cb 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 1.3.1.</description>
+ <description>Robot functional layer (PAL) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/robotgui/package.xml b/spring-mock-ws/src/robotgui/package.xml
index 290652144cf2086aeb2af7caad3c2ea509662422..e3d60c1a4d7283568244638238751bd001598048 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 1.3.1.</description>
+ <description>Robot GUI (ERM) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/robotgui/src/main.cpp b/spring-mock-ws/src/robotgui/src/main.cpp
index becb8d50301caa28832d4eb7ec4c0b8d9321fb41..9c4a4f05e4be68a3e416e459adf8398224c7c53d 100644
--- a/spring-mock-ws/src/robotgui/src/main.cpp
+++ b/spring-mock-ws/src/robotgui/src/main.cpp
@@ -24,46 +24,46 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
+#include "std_msgs/String.h"
class RobotGui {
public:
RobotGui(ros::NodeHandle* nh) {
- // ATTENTION: this topic is not defined in the architecture design
- speechoutput_sub_ = nh->subscribe("speechoutput", 1, &RobotGui::speechoutputCallback, this);
// ATTENTION: this topic is not defined in the architecture design
ttsfeedback_sub_ = nh->subscribe("ttsfeedback", 1, &RobotGui::ttsfeedbackCallback, this);
// ATTENTION: this topic is not defined in the architecture design
- additionalsupportmaterial_sub_ = nh->subscribe("additionalsupportmaterial", 1, &RobotGui::additionalsupportmaterialCallback, this);
+ speechoutput_sub_ = nh->subscribe("speechoutput", 1, &RobotGui::speechoutputCallback, this);
+ voice_speech_sub_ = nh->subscribe("voice_speech", 1, &RobotGui::voice_speechCallback, this);
// ATTENTION: this topic is not defined in the architecture design
- speechinput_sub_ = nh->subscribe("speechinput", 1, &RobotGui::speechinputCallback, this);
+ additionalsupportmaterial_sub_ = nh->subscribe("additionalsupportmaterial", 1, &RobotGui::additionalsupportmaterialCallback, this);
}
~RobotGui() {}
private:
- void speechoutputCallback(const std_msgs::Empty::ConstPtr& msg)
+ void ttsfeedbackCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("robotgui: received message: " << msg);
}
- void ttsfeedbackCallback(const std_msgs::Empty::ConstPtr& msg)
+ void speechoutputCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("robotgui: received message: " << msg);
}
- void additionalsupportmaterialCallback(const std_msgs::Empty::ConstPtr& msg)
+ void voice_speechCallback(const std_msgs::String::ConstPtr& msg)
{
ROS_INFO_STREAM("robotgui: received message: " << msg);
}
- void speechinputCallback(const std_msgs::Empty::ConstPtr& msg)
+ void additionalsupportmaterialCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("robotgui: received message: " << msg);
}
- ros::Subscriber speechoutput_sub_;
ros::Subscriber ttsfeedback_sub_;
+ ros::Subscriber speechoutput_sub_;
+ ros::Subscriber voice_speech_sub_;
ros::Subscriber additionalsupportmaterial_sub_;
- ros::Subscriber speechinput_sub_;
};
diff --git a/spring-mock-ws/src/robotnonverbalbehaviours/CMakeLists.txt b/spring-mock-ws/src/robotnonverbalbehaviours/CMakeLists.txt
index c6b212b0a842ce94e6cf7caa8f7f0cbfdbfb3aa7..93d5ba76f704ffe2f1d7f2fc0b49243d6d234dfc 100644
--- a/spring-mock-ws/src/robotnonverbalbehaviours/CMakeLists.txt
+++ b/spring-mock-ws/src/robotnonverbalbehaviours/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
+ hri_msgs
std_msgs
)
diff --git a/spring-mock-ws/src/robotnonverbalbehaviours/package.xml b/spring-mock-ws/src/robotnonverbalbehaviours/package.xml
index 3c92eeb01d5f3e3069b5db2766dbd3758bd708d5..d7fb5948fc0e034ed7527ac92fc077f0e6de5893 100644
--- a/spring-mock-ws/src/robotnonverbalbehaviours/package.xml
+++ b/spring-mock-ws/src/robotnonverbalbehaviours/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>robotnonverbalbehaviours</name>
<version>1.0.0</version>
- <description>Robot non-verbal behaviours (INRIA) . Auto-generated by Boxology 1.3.1.</description>
+ <description>Robot non-verbal behaviours (INRIA) . 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>hri_msgs</depend>
<depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp b/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp
index 6057e8e9099aab36e19ab95136804c58b6da2694..4b021088dfacc333ef9748f1421cf016877b9c22 100644
--- a/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp
+++ b/spring-mock-ws/src/robotnonverbalbehaviours/src/main.cpp
@@ -24,23 +24,21 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
+#include "hri_msgs/GroupsStamped.h"
class RobotNonverbalBehaviours {
public:
RobotNonverbalBehaviours(ros::NodeHandle* nh) {
- // ATTENTION: this topic is not defined in the architecture design
- status_sub_ = nh->subscribe("status", 1, &RobotNonverbalBehaviours::statusCallback, this);
- // ATTENTION: this topic is not defined in the architecture design
- occupancymap_sub_ = nh->subscribe("occupancymap", 1, &RobotNonverbalBehaviours::occupancymapCallback, this);
// ATTENTION: this topic is not defined in the architecture design
lookat_sub_ = nh->subscribe("lookat", 1, &RobotNonverbalBehaviours::lookatCallback, this);
// ATTENTION: this topic is not defined in the architecture design
- groups_sub_ = nh->subscribe("groups", 1, &RobotNonverbalBehaviours::groupsCallback, this);
+ followingnavgoals_sub_ = nh->subscribe("followingnavgoals", 1, &RobotNonverbalBehaviours::followingnavgoalsCallback, this);
// ATTENTION: this topic is not defined in the architecture design
- hppersonid_sub_ = nh->subscribe("hppersonid", 1, &RobotNonverbalBehaviours::hppersonidCallback, this);
+ status_sub_ = nh->subscribe("status", 1, &RobotNonverbalBehaviours::statusCallback, this);
// ATTENTION: this topic is not defined in the architecture design
- followingnavgoals_sub_ = nh->subscribe("followingnavgoals", 1, &RobotNonverbalBehaviours::followingnavgoalsCallback, this);
+ occupancymap_sub_ = nh->subscribe("occupancymap", 1, &RobotNonverbalBehaviours::occupancymapCallback, this);
+ groups_sub_ = nh->subscribe("groups", 1, &RobotNonverbalBehaviours::groupsCallback, this);
// ATTENTION: this topic is not defined in the architecture design
lowlevelactions_pub_ = nh->advertise<std_msgs::Empty>("lowlevelactions", 1);
@@ -51,37 +49,32 @@ class RobotNonverbalBehaviours {
~RobotNonverbalBehaviours() {}
private:
- void statusCallback(const std_msgs::Empty::ConstPtr& msg)
- {
- ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
- }
- void occupancymapCallback(const std_msgs::Empty::ConstPtr& msg)
+ void lookatCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
}
- void lookatCallback(const std_msgs::Empty::ConstPtr& msg)
+ void followingnavgoalsCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
}
- void groupsCallback(const std_msgs::Empty::ConstPtr& msg)
+ void statusCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
}
- void hppersonidCallback(const std_msgs::Empty::ConstPtr& msg)
+ void occupancymapCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
}
- void followingnavgoalsCallback(const std_msgs::Empty::ConstPtr& msg)
+ void groupsCallback(const hri_msgs::GroupsStamped::ConstPtr& msg)
{
ROS_INFO_STREAM("robotnonverbalbehaviours: received message: " << msg);
}
+ ros::Subscriber lookat_sub_;
+ ros::Subscriber followingnavgoals_sub_;
ros::Subscriber status_sub_;
ros::Subscriber occupancymap_sub_;
- ros::Subscriber lookat_sub_;
ros::Subscriber groups_sub_;
- ros::Subscriber hppersonid_sub_;
- ros::Subscriber followingnavgoals_sub_;
ros::Publisher lowlevelactions_pub_;
ros::Publisher status_pub_;
diff --git a/spring-mock-ws/src/robotutterances/CMakeLists.txt b/spring-mock-ws/src/robotutterances/CMakeLists.txt
deleted file mode 100644
index 766f914ade75bfe65847dd99d8a93cd0e53b2617..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/robotutterances/CMakeLists.txt
+++ /dev/null
@@ -1,203 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(robotutterances)
-
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
- roscpp
- std_msgs
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-## * add a build_depend tag for "message_generation"
-## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-## but can be declared for certainty nonetheless:
-## * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-## * add "message_generation" and every package in MSG_DEP_SET to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * add "message_runtime" and every package in MSG_DEP_SET to
-## catkin_package(CATKIN_DEPENDS ...)
-## * uncomment the add_*_files sections below as needed
-## and list every .msg/.srv/.action file to be processed
-## * uncomment the generate_messages entry below
-## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-# FILES
-# Message1.msg
-# Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-# FILES
-# Service1.srv
-# Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-# FILES
-# Action1.action
-# Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-# DEPENDENCIES
-# std_msgs # Or other packages containing msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-## * add "dynamic_reconfigure" to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * uncomment the "generate_dynamic_reconfigure_options" section below
-## and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-# cfg/DynReconf1.cfg
-# cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-# INCLUDE_DIRS include
-# LIBRARIES robotutterances
-# 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/${PROJECT_NAME}/robotutterances.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${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_robotutterances.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/robotutterances/package.xml b/spring-mock-ws/src/robotutterances/package.xml
deleted file mode 100644
index 773d4ff8b40c05dbcf8ac72c2b9f700e35057c4a..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/robotutterances/package.xml
+++ /dev/null
@@ -1,58 +0,0 @@
-<?xml version="1.0"?>
-<package format="3">
- <name>robotutterances</name>
- <version>1.0.0</version>
- <description>Robot utterances (HWU) . Auto-generated by Boxology 1.3.1.</description>
-
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
- <!-- Example: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
- <maintainer email="todo@example.com">TODO</maintainer>
-
- <!-- One license tag required, multiple allowed, one license per tag -->
- <!-- Commonly used license strings: -->
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
- <license>BSD</license>
-
-
-
- <!-- Url tags are optional, but multiple are allowed, one per tag -->
- <!-- Optional attribute type can be: website, bugtracker, or repository -->
- <!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/NAME</url> -->
-
-
- <!-- Author tags are optional, multiple are allowed, one per tag -->
- <!-- Authors do not have to be maintainers, but could be -->
- <!-- Example: -->
- <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-
-
- <!-- The *depend tags are used to specify dependencies -->
- <!-- Dependencies can be catkin packages or system dependencies -->
- <!-- Examples: -->
- <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
- <!-- <depend>roscpp</depend> -->
- <!-- Note that this is equivalent to the following: -->
- <!-- <build_depend>roscpp</build_depend> -->
- <!-- <exec_depend>roscpp</exec_depend> -->
- <!-- Use build_depend for packages you need at compile time: -->
- <!-- <build_depend>message_generation</build_depend> -->
- <!-- Use build_export_depend for packages you need in order to build against this package: -->
- <!-- <build_export_depend>message_generation</build_export_depend> -->
- <!-- Use buildtool_depend for build tool packages: -->
- <!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use exec_depend for packages you need at runtime: -->
- <!-- <exec_depend>message_runtime</exec_depend> -->
- <!-- Use test_depend for packages you need only for testing: -->
- <!-- <test_depend>gtest</test_depend> -->
- <!-- Use doc_depend for packages you need only for building documentation: -->
- <!-- <doc_depend>doxygen</doc_depend> -->
- <buildtool_depend>catkin</buildtool_depend>
- <exec_depend>roscpp</exec_depend>
- <depend>std_msgs</depend>
-
- <export>
-
- </export>
-</package>
diff --git a/spring-mock-ws/src/robotutterances/src/main.cpp b/spring-mock-ws/src/robotutterances/src/main.cpp
deleted file mode 100644
index 62607b97b2d9392013703dccc0f30ab574a78dbc..0000000000000000000000000000000000000000
--- a/spring-mock-ws/src/robotutterances/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"
-
-class RobotUtterances {
- public:
- RobotUtterances(ros::NodeHandle* nh) {
-
- // ATTENTION: this topic is not defined in the architecture design
- input_sub_ = nh->subscribe("input", 1, &RobotUtterances::inputCallback, this);
-
- // ATTENTION: this topic is not defined in the architecture design
- speech_pub_ = nh->advertise<std_msgs::Empty>("speech", 1);
- }
-
- ~RobotUtterances() {}
-
- private:
- void inputCallback(const std_msgs::Empty::ConstPtr& msg)
- {
- ROS_INFO_STREAM("robotutterances: received message: " << msg);
- }
-
- ros::Subscriber input_sub_;
-
- ros::Publisher speech_pub_;
-
-};
-
-int main(int argc, char** argv) {
- ros::init(argc, argv, "robotutterances");
-
- // 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 robotutterances = RobotUtterances(&private_node_handle_);
-
- ROS_INFO("Node robotutterances launched and ready.");
- ros::spin();
- return 0;
-}
diff --git a/spring-mock-ws/src/rosopenpose/package.xml b/spring-mock-ws/src/rosopenpose/package.xml
index f86881eff16a55e7f46e8b6d7cdbe198cf6c632a..98ed1e1dfe81af4d18c40512354af13c5cfbc73b 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 1.3.1.</description>
+ <description>ROS openpose (INRIA) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/sceneunderstanding/package.xml b/spring-mock-ws/src/sceneunderstanding/package.xml
index 785497c60c27ecc54f8afbeb33bdbb94b7c172c3..c823ce29856eb40d58a93173df1d6986c6f9d27b 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 1.3.1.</description>
+ <description>Scene understanding (HWU) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/semanticmapping/CMakeLists.txt b/spring-mock-ws/src/semanticmapping/CMakeLists.txt
index ed3e896829afb00b67c27f7f03e2d83fa47f6b82..51ae810b52a81d3ad937a10e7d26907a1a964367 100644
--- a/spring-mock-ws/src/semanticmapping/CMakeLists.txt
+++ b/spring-mock-ws/src/semanticmapping/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
+ spring_msgs
std_msgs
)
diff --git a/spring-mock-ws/src/semanticmapping/package.xml b/spring-mock-ws/src/semanticmapping/package.xml
index ffb26083f1bf7ba7fe4fc9172959dc1903483908..964af126c39646c4b9a71515512c2565f1d65bb2 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 1.3.1.</description>
+ <description>Semantic mapping (CVUT) . 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>spring_msgs</depend>
<depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/semanticmapping/src/main.cpp b/spring-mock-ws/src/semanticmapping/src/main.cpp
index a66320a26503fa8c98a3ed8a956a0edca0572087..a5b2cbb5f395f04ad2924ba99e758bb130235875 100644
--- a/spring-mock-ws/src/semanticmapping/src/main.cpp
+++ b/spring-mock-ws/src/semanticmapping/src/main.cpp
@@ -24,15 +24,15 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
+#include "spring_msgs/DetectedObjectArray.h"
class SemanticMapping {
public:
SemanticMapping(ros::NodeHandle* nh) {
- // ATTENTION: this topic is not defined in the architecture design
- detected_objects_sub_ = nh->subscribe("detected_objects", 1, &SemanticMapping::detected_objectsCallback, this);
// ATTENTION: this topic is not defined in the architecture design
dense3dmap_sub_ = nh->subscribe("dense3dmap", 1, &SemanticMapping::dense3dmapCallback, this);
+ detected_objects_sub_ = nh->subscribe("detected_objects", 1, &SemanticMapping::detected_objectsCallback, this);
// ATTENTION: this topic is not defined in the architecture design
scenegraph_pub_ = nh->advertise<std_msgs::Empty>("scenegraph", 1);
@@ -41,17 +41,17 @@ class SemanticMapping {
~SemanticMapping() {}
private:
- void detected_objectsCallback(const std_msgs::Empty::ConstPtr& msg)
+ void dense3dmapCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("semanticmapping: received message: " << msg);
}
- void dense3dmapCallback(const std_msgs::Empty::ConstPtr& msg)
+ void detected_objectsCallback(const spring_msgs::DetectedObjectArray::ConstPtr& msg)
{
ROS_INFO_STREAM("semanticmapping: received message: " << msg);
}
- ros::Subscriber detected_objects_sub_;
ros::Subscriber dense3dmap_sub_;
+ ros::Subscriber detected_objects_sub_;
ros::Publisher scenegraph_pub_;
diff --git a/spring-mock-ws/src/softbiometrics/package.xml b/spring-mock-ws/src/softbiometrics/package.xml
index 686a6d825ebb1b2f6bf9cf95bac2fbf7c3e73c68..aa1c8686d3a2db8fdaa37def6332619c589e3cab 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 1.3.1.</description>
+ <description>Soft biometrics (UNITN) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/soundlocalisation/CMakeLists.txt b/spring-mock-ws/src/soundlocalisation/CMakeLists.txt
index 232221d6dcdbdb41c215826a99c5d661ac62d381..95763aee542e6baefa4176e96eb57048421781d8 100644
--- a/spring-mock-ws/src/soundlocalisation/CMakeLists.txt
+++ b/spring-mock-ws/src/soundlocalisation/CMakeLists.txt
@@ -9,7 +9,7 @@ add_compile_options(-std=c++11)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
- std_msgs
+ audio_common_msgs
tf
)
diff --git a/spring-mock-ws/src/soundlocalisation/package.xml b/spring-mock-ws/src/soundlocalisation/package.xml
index f6aeca4c80d8a5045efddde1f5b3fcff313bc3a9..0fa5e7567d448845f0f5d8c76ca8f61a76618cbb 100644
--- a/spring-mock-ws/src/soundlocalisation/package.xml
+++ b/spring-mock-ws/src/soundlocalisation/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>soundlocalisation</name>
<version>1.0.0</version>
- <description>Sound localisation (BIU) . Auto-generated by Boxology 1.3.1.</description>
+ <description>Sound localisation (BIU) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -50,7 +50,7 @@
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roscpp</exec_depend>
- <depend>std_msgs</depend>
+ <depend>audio_common_msgs</depend>
<depend>tf</depend>
<export>
diff --git a/spring-mock-ws/src/soundlocalisation/src/main.cpp b/spring-mock-ws/src/soundlocalisation/src/main.cpp
index f43b64a01ac0ee7568881c8478909b9020b07c94..d8234e2098049707c39e9d93ba7a3bd3894471bc 100644
--- a/spring-mock-ws/src/soundlocalisation/src/main.cpp
+++ b/spring-mock-ws/src/soundlocalisation/src/main.cpp
@@ -23,27 +23,26 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "std_msgs/Empty.h"
#include "tf/transform_broadcaster.h"
+#include "audio_common_msgs/AudioData.h"
class SoundLocalisation {
public:
SoundLocalisation(ros::NodeHandle* nh) {
- // ATTENTION: this topic is not defined in the architecture design
- input_sub_ = nh->subscribe("input", 1, &SoundLocalisation::inputCallback, this);
+ voice_audio_sub_ = nh->subscribe("voice_audio", 1, &SoundLocalisation::voice_audioCallback, this);
}
~SoundLocalisation() {}
private:
- void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+ void voice_audioCallback(const audio_common_msgs::AudioData::ConstPtr& msg)
{
ROS_INFO_STREAM("soundlocalisation: received message: " << msg);
}
- ros::Subscriber input_sub_;
+ ros::Subscriber voice_audio_sub_;
};
diff --git a/spring-mock-ws/src/speakerrecognition/CMakeLists.txt b/spring-mock-ws/src/speakerrecognition/CMakeLists.txt
index afbff813828688d5ae216c1ca8bbaa31af1a4638..186aeb8a9f1f2497bce76a6ed4220e16c4378ad4 100644
--- a/spring-mock-ws/src/speakerrecognition/CMakeLists.txt
+++ b/spring-mock-ws/src/speakerrecognition/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
)
diff --git a/spring-mock-ws/src/speakerrecognition/package.xml b/spring-mock-ws/src/speakerrecognition/package.xml
index a4a5da361d4645fc439118e13577a9368482e8cd..34e61460a106f582bd79509cc7566c7feef566b1 100644
--- a/spring-mock-ws/src/speakerrecognition/package.xml
+++ b/spring-mock-ws/src/speakerrecognition/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>speakerrecognition</name>
<version>1.0.0</version>
- <description>Speaker recognition (BIU) . Auto-generated by Boxology 1.3.1.</description>
+ <description>Speaker recognition (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>
diff --git a/spring-mock-ws/src/speakerrecognition/src/main.cpp b/spring-mock-ws/src/speakerrecognition/src/main.cpp
index 25c57ce151e619f49d6e28a51ac0c872d90313f1..25e830d6b51a17b696bb09fce3163a7d680518d1 100644
--- a/spring-mock-ws/src/speakerrecognition/src/main.cpp
+++ b/spring-mock-ws/src/speakerrecognition/src/main.cpp
@@ -24,29 +24,29 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
+#include "audio_common_msgs/AudioData.h"
class SpeakerRecognition {
public:
SpeakerRecognition(ros::NodeHandle* nh) {
- // ATTENTION: this topic is not defined in the architecture design
- input_sub_ = nh->subscribe("input", 1, &SpeakerRecognition::inputCallback, this);
+ voice_audio_sub_ = nh->subscribe("voice_audio", 1, &SpeakerRecognition::voice_audioCallback, this);
// ATTENTION: this topic is not defined in the architecture design
- personid_pub_ = nh->advertise<std_msgs::Empty>("personid", 1);
+ person_id_candidatehri_msgsidsmatch_pub_ = nh->advertise<std_msgs::Empty>("person_id_candidatehri_msgsidsmatch", 1);
}
~SpeakerRecognition() {}
private:
- void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+ void voice_audioCallback(const audio_common_msgs::AudioData::ConstPtr& msg)
{
ROS_INFO_STREAM("speakerrecognition: received message: " << msg);
}
- ros::Subscriber input_sub_;
+ ros::Subscriber voice_audio_sub_;
- ros::Publisher personid_pub_;
+ ros::Publisher person_id_candidatehri_msgsidsmatch_pub_;
};
diff --git a/spring-mock-ws/src/speechdiarization/CMakeLists.txt b/spring-mock-ws/src/speechdiarization/CMakeLists.txt
index 739a7751cdf415a6ac28b7ea42c43da617d01cea..44be11dfac7e337992e8532d3ca559edc360c71f 100644
--- a/spring-mock-ws/src/speechdiarization/CMakeLists.txt
+++ b/spring-mock-ws/src/speechdiarization/CMakeLists.txt
@@ -9,7 +9,8 @@ add_compile_options(-std=c++11)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
- std_msgs
+ audio_common_msgs
+ respeaker_ros
)
## System dependencies are found with CMake's conventions
diff --git a/spring-mock-ws/src/speechdiarization/package.xml b/spring-mock-ws/src/speechdiarization/package.xml
index 579ebcdbeb50e2f9f7680619687ed645569f75b9..203edce9a6677bcb7adfd23c778f7437cb1f21ff 100644
--- a/spring-mock-ws/src/speechdiarization/package.xml
+++ b/spring-mock-ws/src/speechdiarization/package.xml
@@ -2,7 +2,7 @@
<package format="3">
<name>speechdiarization</name>
<version>1.0.0</version>
- <description>Speech diarization (BIU) . Auto-generated by Boxology 1.3.1.</description>
+ <description>Speech diarization (BIU) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -50,7 +50,8 @@
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roscpp</exec_depend>
- <depend>std_msgs</depend>
+ <depend>audio_common_msgs</depend>
+ <depend>respeaker_ros</depend>
<export>
diff --git a/spring-mock-ws/src/speechdiarization/src/main.cpp b/spring-mock-ws/src/speechdiarization/src/main.cpp
index 8af98f4dcc225ed7490b04f21f7ff36fdfbb8baf..8e54b759628eb094ac13a9642ea1f409d83a551b 100644
--- a/spring-mock-ws/src/speechdiarization/src/main.cpp
+++ b/spring-mock-ws/src/speechdiarization/src/main.cpp
@@ -23,30 +23,32 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "std_msgs/Empty.h"
+#include "audio_common_msgs/AudioInfo.h"
+#include "respeaker_ros/RawAudioData.h"
+#include "audio_common_msgs/AudioData.h"
class SpeechDiarization {
public:
SpeechDiarization(ros::NodeHandle* nh) {
- // ATTENTION: this topic is not defined in the architecture design
- input_sub_ = nh->subscribe("input", 1, &SpeechDiarization::inputCallback, this);
+ raw_audio_sub_ = nh->subscribe("raw_audio", 1, &SpeechDiarization::raw_audioCallback, this);
- // ATTENTION: this topic is not defined in the architecture design
- hvvoiceidaudio_pub_ = nh->advertise<std_msgs::Empty>("hvvoiceidaudio", 1);
+ voice_audio_info_pub_ = nh->advertise<audio_common_msgs::AudioInfo>("voice_audio_info", 1);
+ voice_audio_pub_ = nh->advertise<audio_common_msgs::AudioData>("voice_audio", 1);
}
~SpeechDiarization() {}
private:
- void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+ void raw_audioCallback(const respeaker_ros::RawAudioData::ConstPtr& msg)
{
ROS_INFO_STREAM("speechdiarization: received message: " << msg);
}
- ros::Subscriber input_sub_;
+ ros::Subscriber raw_audio_sub_;
- ros::Publisher hvvoiceidaudio_pub_;
+ ros::Publisher voice_audio_info_pub_;
+ ros::Publisher voice_audio_pub_;
};
diff --git a/spring-mock-ws/src/speechsynthesis/package.xml b/spring-mock-ws/src/speechsynthesis/package.xml
index acf6526e986321b123f859024d4b59b195fd079d..3767bd0f9e955b09d97041c87517401324876dcb 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 1.3.1.</description>
+ <description>Speech synthesis (PAL) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/speechsynthesis/src/main.cpp b/spring-mock-ws/src/speechsynthesis/src/main.cpp
index b340dac3ef7e50c716dcde2e54976cdc12fa3f2e..7cbcda8eeaddfb7c0d2e9461064f33e620e8b99f 100644
--- a/spring-mock-ws/src/speechsynthesis/src/main.cpp
+++ b/spring-mock-ws/src/speechsynthesis/src/main.cpp
@@ -30,7 +30,7 @@ class SpeechSynthesis {
SpeechSynthesis(ros::NodeHandle* nh) {
// ATTENTION: this topic is not defined in the architecture design
- input_sub_ = nh->subscribe("input", 1, &SpeechSynthesis::inputCallback, this);
+ speechstd_msgsstring_sub_ = nh->subscribe("speechstd_msgsstring", 1, &SpeechSynthesis::speechstd_msgsstringCallback, this);
// ATTENTION: this topic is not defined in the architecture design
ttsfeedback_pub_ = nh->advertise<std_msgs::Empty>("ttsfeedback", 1);
@@ -39,12 +39,12 @@ class SpeechSynthesis {
~SpeechSynthesis() {}
private:
- void inputCallback(const std_msgs::Empty::ConstPtr& msg)
+ void speechstd_msgsstringCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("speechsynthesis: received message: " << msg);
}
- ros::Subscriber input_sub_;
+ ros::Subscriber speechstd_msgsstring_sub_;
ros::Publisher ttsfeedback_pub_;
diff --git a/spring-mock-ws/src/springarchitecture/CMakeLists.txt b/spring-mock-ws/src/springarchitecture/CMakeLists.txt
index 7252bd490f4de202e471fdf8d34d654aef674acb..fafb1254914843d04f088266d483014ac8952351 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
- speakerrecognition
- hri_msgs
- highlevelplanner
+ rgbhead
+ speechdiarization
personreidentification
- rgbdcamera_info
- fformation
- activityreco
- nonverbalbehaviours
- robotgui
maskdetection
- speechsynthesis
- uservisualfocus
- speechdiarization
- dialoguemanager
- people3dtracker
- personmanager
- visualslam3dmap
- robotfunctionallayer
- interactionmanager
+ rgbdcamera_info
+ orbslam
objectdetectionidentificationlocalisation
- robotnonverbalbehaviours
- body2dpose
+ multipeoplebodytracker
+ hri_msgs
+ spring_msgs
+ robotfunctionallayer
+ personmanager
+ depthestimationfrommonocular
occupancymap
- softbiometrics
- rgbhead
userattentionestimation
- depthestimationfrommonocular
- semanticmapping
respeaker_ros
- orbslam
- sceneunderstanding
- people3dposeestimation
- multipeoplebodytracker
+ dialoguemanager
+ body2dpose
+ hri_fullbody
+ speechsynthesis
+ soundlocalisation
+ robotnonverbalbehaviours
+ highlevelplanner
+ nonverbalbehaviours
+ fformation
facedetection
- robotutterances
+ activityreco
+ uservisualfocus
+ softbiometrics
+ sceneunderstanding
rosopenpose
- soundlocalisation
+ asr
+ people3dtracker
+ visualslam3dmap
+ robotgui
+ speakerrecognition
+ semanticmapping
+ interactionmanager
)
catkin_package()
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all.launch b/spring-mock-ws/src/springarchitecture/launch/start_all.launch
index caf715b71c398ead196cbc6deb6e99b9c259d11e..8fad914abde3964d24299febcee08506e343a729 100644
--- a/spring-mock-ws/src/springarchitecture/launch/start_all.launch
+++ b/spring-mock-ws/src/springarchitecture/launch/start_all.launch
@@ -1,24 +1,26 @@
<launch>
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
- </node>
-
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
- </node>
-
- <!-- launching hri_msgs (hri_msgs) -->
- <node pkg="hri_msgs" name="hri_msgs" 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"/>
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="voice_audio_info" to="/humans/voices/TEST_ID_VOICE/audio_info"/>
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
<!-- launching Person re-identification (personreidentification) -->
<node pkg="personreidentification" name="personreidentification" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ </node>
+
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
</node>
<!-- launching RGB-D + camera_info (rgbdcamera_info) -->
@@ -26,155 +28,177 @@
<remap from="image_raw" to="/camera_torso/color/image_raw"/>
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="groups" to="/h/i/groups"/>
+ <!-- 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 Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" 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 Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_expression" to="/humans/faces/<id>/expression"/>
+ <!-- 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) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <!-- launching hri_msgs (hri_msgs) -->
+ <node pkg="hri_msgs" name="hri_msgs" 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/<id>/roi"/>
- <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+ <!-- launching spring_msgs (spring_msgs) -->
+ <node pkg="spring_msgs" name="spring_msgs" type="node" output="screen">
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" 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_body_id" to="/humans/persons/TEST_ID_PERSON/body_id"/>
+ <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
+ <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
+ <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
</node>
- <!-- launching Speech diarization (speechdiarization) -->
- <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+ <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+ <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
</node>
- <!-- launching Dialogue manager (dialoguemanager) -->
- <node pkg="dialoguemanager" name="dialoguemanager" 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 People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" 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 Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
- <remap from="image_head" to="/camera_head/color/image_head"/>
- <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" 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 Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+ <!-- launching hri_fullbody (hri_fullbody) -->
+ <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
- <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ </node>
+
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
<!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
<node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+ <remap from="groups" to="/humans/interactions/groups"/>
</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/<id>/roi"/>
- <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" 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 Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
</node>
- <!-- launching Soft biometrics (softbiometrics) -->
- <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+ <!-- 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 RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" 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 User attention estimation (userattentionestimation) -->
- <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" 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 Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <!-- launching Soft biometrics (softbiometrics) -->
+ <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</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 ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching People 3D pose estimation (people3dposeestimation) -->
- <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" 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/<id>/roi"/>
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <remap from="image_head" to="/camera_head/color/image_head"/>
+ <remap from="image_torso" to="/camera_torso/color/image_torso"/>
</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/<id>/roi"/>
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+ <!-- launching Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" 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 Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <remap from="detected_objects" to="/detected_objects"/>
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <!-- launching Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_BIU.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_BIU.launch
index 87a3bfdd7957b2881b94cbfaef9211085a1ef21d..0036c0a6705e23a94652ba5bab8e78c1270e14de 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
@@ -1,17 +1,20 @@
<launch>
<!-- this launch file starts all SPRING nodes except for BIU nodes. -->
- <!-- launching hri_msgs (hri_msgs) -->
- <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
- </node>
-
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" 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"/>
</node>
<!-- launching Person re-identification (personreidentification) -->
<node pkg="personreidentification" name="personreidentification" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ </node>
+
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
</node>
<!-- launching RGB-D + camera_info (rgbdcamera_info) -->
@@ -19,147 +22,161 @@
<remap from="image_raw" to="/camera_torso/color/image_raw"/>
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="groups" to="/h/i/groups"/>
+ <!-- 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 Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" 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 Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_expression" to="/humans/faces/<id>/expression"/>
+ <!-- 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) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <!-- launching hri_msgs (hri_msgs) -->
+ <node pkg="hri_msgs" name="hri_msgs" 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/<id>/roi"/>
- <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+ <!-- launching spring_msgs (spring_msgs) -->
+ <node pkg="spring_msgs" name="spring_msgs" type="node" output="screen">
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" 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_body_id" to="/humans/persons/TEST_ID_PERSON/body_id"/>
+ <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
+ <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
+ <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
</node>
- <!-- launching Dialogue manager (dialoguemanager) -->
- <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+ <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" 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 Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" 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 Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
- <remap from="image_head" to="/camera_head/color/image_head"/>
- <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
</node>
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" 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 Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
- <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+ <!-- launching hri_fullbody (hri_fullbody) -->
+ <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
<remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ </node>
+
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
<!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
<node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+ <remap from="groups" to="/humans/interactions/groups"/>
</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/<id>/roi"/>
- <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" 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 Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
</node>
- <!-- launching Soft biometrics (softbiometrics) -->
- <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+ <!-- 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 RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" 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 User attention estimation (userattentionestimation) -->
- <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- </node>
-
- <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
- </node>
-
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
+ <!-- launching User visual focus (uservisualfocus) -->
+ <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+ <remap from="gaze" to="/humans/interactions/gaze"/>
</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 Soft biometrics (softbiometrics) -->
+ <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
</node>
<!-- launching Scene understanding (sceneunderstanding) -->
<node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching People 3D pose estimation (people3dposeestimation) -->
- <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" 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/<id>/roi"/>
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching Face detection (facedetection) -->
- <node pkg="facedetection" name="facedetection" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <remap from="image_head" to="/camera_head/color/image_head"/>
+ <remap from="image_torso" to="/camera_torso/color/image_torso"/>
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <remap from="detected_objects" to="/detected_objects"/>
+ </node>
+
+ <!-- launching Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_CVUT.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_CVUT.launch
index 89670e4a4933d7dd676588c33ac77f0532cf120f..7c811942139759e9e10573fe276f6e7b7703e3f2 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
@@ -1,25 +1,27 @@
<launch>
<!-- this launch file starts all SPRING nodes except for CVUT nodes. -->
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
- </node>
-
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
- </node>
-
- <!-- launching hri_msgs (hri_msgs) -->
- <node pkg="hri_msgs" name="hri_msgs" 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"/>
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="voice_audio_info" to="/humans/voices/TEST_ID_VOICE/audio_info"/>
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
<!-- launching Person re-identification (personreidentification) -->
<node pkg="personreidentification" name="personreidentification" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ </node>
+
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
</node>
<!-- launching RGB-D + camera_info (rgbdcamera_info) -->
@@ -27,135 +29,155 @@
<remap from="image_raw" to="/camera_torso/color/image_raw"/>
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="groups" to="/h/i/groups"/>
+ <!-- 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 Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ <!-- 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 Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_expression" to="/humans/faces/<id>/expression"/>
+ <!-- launching hri_msgs (hri_msgs) -->
+ <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <!-- launching spring_msgs (spring_msgs) -->
+ <node pkg="spring_msgs" name="spring_msgs" 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/<id>/roi"/>
- <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" 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_body_id" to="/humans/persons/TEST_ID_PERSON/body_id"/>
+ <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
+ <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
+ <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
</node>
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+ <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+ <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
</node>
- <!-- launching Speech diarization (speechdiarization) -->
- <node pkg="speechdiarization" name="speechdiarization" 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 respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
</node>
<!-- launching Dialogue manager (dialoguemanager) -->
<node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" 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 Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
+ <!-- launching hri_fullbody (hri_fullbody) -->
+ <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
<!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
<node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+ <remap from="groups" to="/humans/interactions/groups"/>
</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/<id>/roi"/>
- <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
</node>
- <!-- launching Soft biometrics (softbiometrics) -->
- <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
</node>
- <!-- launching RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" type="node" output="screen">
- <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <!-- 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 User attention estimation (userattentionestimation) -->
- <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <!-- 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 Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
+ <!-- launching User visual focus (uservisualfocus) -->
+ <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+ <remap from="gaze" to="/humans/interactions/gaze"/>
</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 Soft biometrics (softbiometrics) -->
+ <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
</node>
<!-- launching Scene understanding (sceneunderstanding) -->
<node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching People 3D pose estimation (people3dposeestimation) -->
- <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" 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/<id>/roi"/>
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</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/<id>/roi"/>
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- launching Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <!-- launching Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_ERM.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_ERM.launch
index 44b85fc3e2d85fea2683769dbbbcaaa11ab183a2..6d4b5193047235ef3898dead3b26cacc797948c0 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
@@ -1,25 +1,27 @@
<launch>
<!-- this launch file starts all SPRING nodes except for ERM nodes. -->
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
- </node>
-
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
- </node>
-
- <!-- launching hri_msgs (hri_msgs) -->
- <node pkg="hri_msgs" name="hri_msgs" 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"/>
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="voice_audio_info" to="/humans/voices/TEST_ID_VOICE/audio_info"/>
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
<!-- launching Person re-identification (personreidentification) -->
<node pkg="personreidentification" name="personreidentification" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ </node>
+
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
</node>
<!-- launching RGB-D + camera_info (rgbdcamera_info) -->
@@ -27,151 +29,172 @@
<remap from="image_raw" to="/camera_torso/color/image_raw"/>
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="groups" to="/h/i/groups"/>
+ <!-- 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 Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" 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 Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_expression" to="/humans/faces/<id>/expression"/>
+ <!-- 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 Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+ <!-- launching hri_msgs (hri_msgs) -->
+ <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- launching spring_msgs (spring_msgs) -->
+ <node pkg="spring_msgs" name="spring_msgs" type="node" output="screen">
</node>
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching Speech diarization (speechdiarization) -->
- <node pkg="speechdiarization" name="speechdiarization" 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_body_id" to="/humans/persons/TEST_ID_PERSON/body_id"/>
+ <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
+ <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
+ <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
</node>
- <!-- launching Dialogue manager (dialoguemanager) -->
- <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+ <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" 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 Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" 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 Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
- <remap from="image_head" to="/camera_head/color/image_head"/>
- <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
</node>
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" 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 Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
- <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+ <!-- launching hri_fullbody (hri_fullbody) -->
+ <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
<remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</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/<id>/roi"/>
- <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="map_refined" to="/map_refined"/>
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+ <remap from="groups" to="/humans/interactions/groups"/>
</node>
- <!-- launching Soft biometrics (softbiometrics) -->
- <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" 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 Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
</node>
- <!-- launching User attention estimation (userattentionestimation) -->
- <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <!-- 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 Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" 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 Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
+ <!-- launching User visual focus (uservisualfocus) -->
+ <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+ <remap from="gaze" to="/humans/interactions/gaze"/>
</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 Soft biometrics (softbiometrics) -->
+ <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
</node>
<!-- launching Scene understanding (sceneunderstanding) -->
<node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching People 3D pose estimation (people3dposeestimation) -->
- <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" 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/<id>/roi"/>
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</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/<id>/roi"/>
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <remap from="image_head" to="/camera_head/color/image_head"/>
+ <remap from="image_torso" to="/camera_torso/color/image_torso"/>
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- launching Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <remap from="detected_objects" to="/detected_objects"/>
+ </node>
+
+ <!-- launching Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_HWU.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_HWU.launch
index 00667fe2f003333e574a2359e34e0a1f4b578f9c..26d80d8592d90dc693f3a675ad9ebfa315b1fec9 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 +1,27 @@
<launch>
<!-- this launch file starts all SPRING nodes except for HWU nodes. -->
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
- </node>
-
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" 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"/>
</node>
- <!-- launching hri_msgs (hri_msgs) -->
- <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="voice_audio_info" to="/humans/voices/TEST_ID_VOICE/audio_info"/>
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
<!-- launching Person re-identification (personreidentification) -->
<node pkg="personreidentification" name="personreidentification" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ </node>
+
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
</node>
<!-- launching RGB-D + camera_info (rgbdcamera_info) -->
@@ -23,139 +29,160 @@
<remap from="image_raw" to="/camera_torso/color/image_raw"/>
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="groups" to="/h/i/groups"/>
+ <!-- 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 Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" 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 Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_expression" to="/humans/faces/<id>/expression"/>
+ <!-- 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) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <!-- launching hri_msgs (hri_msgs) -->
+ <node pkg="hri_msgs" name="hri_msgs" 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/<id>/roi"/>
- <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+ <!-- launching spring_msgs (spring_msgs) -->
+ <node pkg="spring_msgs" name="spring_msgs" type="node" output="screen">
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" 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_body_id" to="/humans/persons/TEST_ID_PERSON/body_id"/>
+ <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
+ <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
+ <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
</node>
- <!-- launching Speech diarization (speechdiarization) -->
- <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+ <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+ <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" 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 Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" 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 Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
- <remap from="image_head" to="/camera_head/color/image_head"/>
- <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
</node>
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" 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 Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
- <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+ <!-- launching hri_fullbody (hri_fullbody) -->
+ <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
<remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" type="node" output="screen">
</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/<id>/roi"/>
- <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="map_refined" to="/map_refined"/>
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+ <remap from="groups" to="/humans/interactions/groups"/>
</node>
- <!-- launching Soft biometrics (softbiometrics) -->
- <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
</node>
- <!-- launching RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" 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 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 User attention estimation (userattentionestimation) -->
- <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" 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 Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <!-- launching Soft biometrics (softbiometrics) -->
+ <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</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 ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching People 3D pose estimation (people3dposeestimation) -->
- <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" 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/<id>/roi"/>
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <remap from="image_head" to="/camera_head/color/image_head"/>
+ <remap from="image_torso" to="/camera_torso/color/image_torso"/>
</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/<id>/roi"/>
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- launching Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <remap from="detected_objects" to="/detected_objects"/>
</node>
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 ddc14c6fea92011b06e6bde6cff412bcc106ed6c..8f48e164f3e75bc82a8aa0a9804dd1a3d7e79f14 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
@@ -1,25 +1,27 @@
<launch>
<!-- this launch file starts all SPRING nodes except for INRIA nodes. -->
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
- </node>
-
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
- </node>
-
- <!-- launching hri_msgs (hri_msgs) -->
- <node pkg="hri_msgs" name="hri_msgs" 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"/>
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="voice_audio_info" to="/humans/voices/TEST_ID_VOICE/audio_info"/>
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
<!-- launching Person re-identification (personreidentification) -->
<node pkg="personreidentification" name="personreidentification" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ </node>
+
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
</node>
<!-- launching RGB-D + camera_info (rgbdcamera_info) -->
@@ -27,133 +29,149 @@
<remap from="image_raw" to="/camera_torso/color/image_raw"/>
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="groups" to="/h/i/groups"/>
+ <!-- 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 Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" 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 Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_expression" to="/humans/faces/<id>/expression"/>
+ <!-- launching hri_msgs (hri_msgs) -->
+ <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <!-- launching spring_msgs (spring_msgs) -->
+ <node pkg="spring_msgs" name="spring_msgs" 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/<id>/roi"/>
- <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</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 User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" 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 Speech diarization (speechdiarization) -->
- <node pkg="speechdiarization" name="speechdiarization" 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 respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
</node>
<!-- launching Dialogue manager (dialoguemanager) -->
<node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
- <remap from="image_head" to="/camera_head/color/image_head"/>
- <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+ <!-- launching 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">
+ <!-- launching hri_fullbody (hri_fullbody) -->
+ <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" 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"/>
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" 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="image_raw" to="/camera_head/color/image_raw"/>
- <remap from="body_roi" to="/humans/bodies/<id>/roi"/>
- <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" 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 Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
</node>
- <!-- launching Soft biometrics (softbiometrics) -->
- <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+ <!-- 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 RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" 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 User attention estimation (userattentionestimation) -->
- <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" 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 Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <!-- launching Soft biometrics (softbiometrics) -->
+ <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</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 ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <remap from="image_head" to="/camera_head/color/image_head"/>
+ <remap from="image_torso" to="/camera_torso/color/image_torso"/>
</node>
- <!-- launching People 3D pose estimation (people3dposeestimation) -->
- <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching 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/<id>/roi"/>
+ <!-- launching Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <remap from="detected_objects" to="/detected_objects"/>
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <!-- launching Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_Other.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_Other.launch
index f5b522f565cd6b0583a7d5485054db998ca121f5..61a9dc25007ad4209e2b2ec4d56adec6b25a6691 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 +1,27 @@
<launch>
<!-- this launch file starts all SPRING nodes except for Other nodes. -->
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
- </node>
-
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" 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"/>
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="voice_audio_info" to="/humans/voices/TEST_ID_VOICE/audio_info"/>
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
<!-- launching Person re-identification (personreidentification) -->
<node pkg="personreidentification" name="personreidentification" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ </node>
+
+ <!-- launching Mask detection (maskdetection) -->
+ <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_mask" to="/humans/faces/TEST_ID_FACE/mask"/>
</node>
<!-- launching RGB-D + camera_info (rgbdcamera_info) -->
@@ -23,155 +29,169 @@
<remap from="image_raw" to="/camera_torso/color/image_raw"/>
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="groups" to="/h/i/groups"/>
- </node>
-
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" 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 Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_expression" to="/humans/faces/<id>/expression"/>
+ <!-- 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 Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <!-- 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 Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+ <!-- launching Robot functional layer (robotfunctionallayer) -->
+ <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
</node>
- <!-- launching Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" 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_body_id" to="/humans/persons/TEST_ID_PERSON/body_id"/>
+ <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
+ <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
+ <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
</node>
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+ <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+ <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
</node>
- <!-- launching Speech diarization (speechdiarization) -->
- <node pkg="speechdiarization" name="speechdiarization" 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 manager (dialoguemanager) -->
- <node pkg="dialoguemanager" name="dialoguemanager" 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 People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
</node>
- <!-- launching Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
- <remap from="image_head" to="/camera_head/color/image_head"/>
- <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+ <!-- launching 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">
+ <!-- launching hri_fullbody (hri_fullbody) -->
+ <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" 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"/>
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
<!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
<node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+ <remap from="groups" to="/humans/interactions/groups"/>
</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/<id>/roi"/>
- <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" 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 Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
</node>
- <!-- launching Soft biometrics (softbiometrics) -->
- <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+ <!-- 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 RGB head (rgbhead) -->
- <node pkg="rgbhead" name="rgbhead" 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 User attention estimation (userattentionestimation) -->
- <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
</node>
- <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" 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 Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <!-- launching Soft biometrics (softbiometrics) -->
+ <node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</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 ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching People 3D pose estimation (people3dposeestimation) -->
- <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" 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/<id>/roi"/>
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <remap from="image_head" to="/camera_head/color/image_head"/>
+ <remap from="image_torso" to="/camera_torso/color/image_torso"/>
</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/<id>/roi"/>
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+ <!-- launching Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" 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 Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <remap from="detected_objects" to="/detected_objects"/>
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <!-- launching Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_PAL.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_PAL.launch
index b6151b066280f1c917fe19d1421e35d82609d721..551bdcd4ac57d66c9935eb33000655e6d1d642da 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
@@ -1,148 +1,168 @@
<launch>
<!-- this launch file starts all SPRING nodes except for PAL nodes. -->
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
- </node>
-
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="voice_audio_info" to="/humans/voices/TEST_ID_VOICE/audio_info"/>
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
- <!-- launching hri_msgs (hri_msgs) -->
- <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
+ <!-- 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 High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" 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 Person re-identification (personreidentification) -->
- <node pkg="personreidentification" name="personreidentification" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
+ <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="detected_objects" to="/detected_objects"/>
</node>
- <!-- launching F-formation (fformation) -->
- <node pkg="fformation" name="fformation" type="node" output="screen">
- <remap from="groups" to="/h/i/groups"/>
+ <!-- launching Multi-people body tracker (multipeoplebodytracker) -->
+ <node pkg="multipeoplebodytracker" name="multipeoplebodytracker" type="node" output="screen">
+ <remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
</node>
- <!-- launching Activity reco (activityreco) -->
- <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ <!-- launching hri_msgs (hri_msgs) -->
+ <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
</node>
- <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
- <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_expression" to="/humans/faces/<id>/expression"/>
+ <!-- launching spring_msgs (spring_msgs) -->
+ <node pkg="spring_msgs" name="spring_msgs" type="node" output="screen">
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" 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_body_id" to="/humans/persons/TEST_ID_PERSON/body_id"/>
+ <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
+ <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
+ <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
</node>
- <!-- launching Mask detection (maskdetection) -->
- <node pkg="maskdetection" name="maskdetection" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_mask" to="/humans/faces/<id>/mask"/>
+ <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
+ <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
</node>
- <!-- launching User visual focus (uservisualfocus) -->
- <node pkg="uservisualfocus" name="uservisualfocus" 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 Speech diarization (speechdiarization) -->
- <node pkg="speechdiarization" name="speechdiarization" 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 Dialogue manager (dialoguemanager) -->
<node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" 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 Person manager (personmanager) -->
- <node pkg="personmanager" name="personmanager" type="node" output="screen">
+ <!-- launching Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
- <remap from="image_head" to="/camera_head/color/image_head"/>
- <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+ <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+ <remap from="groups" to="/humans/interactions/groups"/>
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" 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"/>
+ <!-- launching Non-verbal behaviours (nonverbalbehaviours) -->
+ <node pkg="nonverbalbehaviours" name="nonverbalbehaviours" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_expression" to="/humans/faces/TEST_ID_FACE/expression"/>
</node>
- <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" 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 Body 2D pose (body2dpose) -->
- <node pkg="body2dpose" name="body2dpose" 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="body_roi" to="/humans/bodies/<id>/roi"/>
- <remap from="body_skeleton2d" to="/humans/bodies/<id>/skeleton2d"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Occupancy map (occupancymap) -->
- <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
- <remap from="map_refined" to="/map_refined"/>
+ <!-- launching Activity reco (activityreco) -->
+ <node pkg="activityreco" name="activityreco" type="node" output="screen">
+ </node>
+
+ <!-- launching User visual focus (uservisualfocus) -->
+ <node pkg="uservisualfocus" name="uservisualfocus" type="node" output="screen">
+ <remap from="gaze" to="/humans/interactions/gaze"/>
</node>
<!-- launching Soft biometrics (softbiometrics) -->
<node pkg="softbiometrics" name="softbiometrics" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
- <remap from="face_demographics" to="/humans/faces/<id>/demographics"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
+ <remap from="face_demographics" to="/humans/faces/TEST_ID_FACE/demographics"/>
</node>
- <!-- launching User attention estimation (userattentionestimation) -->
- <node pkg="userattentionestimation" name="userattentionestimation" type="node" output="screen">
- <remap from="face_roi" to="/humans/faces/<id>/roi"/>
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</node>
- <!-- launching Depth estimation from monocular (depthestimationfrommonocular) -->
- <node pkg="depthestimationfrommonocular" name="depthestimationfrommonocular" type="node" output="screen">
+ <!-- launching ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" 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/<id>/roi"/>
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <remap from="image_head" to="/camera_head/color/image_head"/>
+ <remap from="image_torso" to="/camera_torso/color/image_torso"/>
</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/<id>/roi"/>
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+ <!-- launching Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" 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 Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <remap from="detected_objects" to="/detected_objects"/>
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <!-- launching Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
diff --git a/spring-mock-ws/src/springarchitecture/launch/start_all_but_UNITN.launch b/spring-mock-ws/src/springarchitecture/launch/start_all_but_UNITN.launch
index f01b69f8ea795c9888b240cc4b10e1e090f79699..d2dc2a96897a21c9158af2821e508cf6d1800646 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
@@ -1,20 +1,16 @@
<launch>
<!-- this launch file starts all SPRING nodes except for UNITN nodes. -->
- <!-- launching ASR (asr) -->
- <node pkg="asr" name="asr" type="node" output="screen">
- </node>
-
- <!-- launching Speaker recognition (speakerrecognition) -->
- <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
- </node>
-
- <!-- launching hri_msgs (hri_msgs) -->
- <node pkg="hri_msgs" name="hri_msgs" 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"/>
</node>
- <!-- launching High-level planner (highlevelplanner) -->
- <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
+ <!-- launching Speech diarization (speechdiarization) -->
+ <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
+ <remap from="voice_audio_info" to="/humans/voices/TEST_ID_VOICE/audio_info"/>
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
<!-- launching RGB-D + camera_info (rgbdcamera_info) -->
@@ -22,102 +18,127 @@
<remap from="image_raw" to="/camera_torso/color/image_raw"/>
</node>
- <!-- launching Robot GUI (robotgui) -->
- <node pkg="robotgui" name="robotgui" 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 Speech synthesis (speechsynthesis) -->
- <node pkg="speechsynthesis" name="speechsynthesis" 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 Speech diarization (speechdiarization) -->
- <node pkg="speechdiarization" name="speechdiarization" type="node" output="screen">
+ <!-- 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 Dialogue manager (dialoguemanager) -->
- <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ <!-- launching hri_msgs (hri_msgs) -->
+ <node pkg="hri_msgs" name="hri_msgs" type="node" output="screen">
</node>
- <!-- launching People 3D tracker (people3dtracker) -->
- <node pkg="people3dtracker" name="people3dtracker" type="node" output="screen">
+ <!-- launching spring_msgs (spring_msgs) -->
+ <node pkg="spring_msgs" name="spring_msgs" type="node" output="screen">
+ </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_body_id" to="/humans/persons/TEST_ID_PERSON/body_id"/>
+ <remap from="person_voice_id" to="/humans/persons/TEST_ID_PERSON/voice_id"/>
+ <remap from="person_face_id" to="/humans/persons/TEST_ID_PERSON/face_id"/>
+ <remap from="person_demographics" to="/humans/persons/TEST_ID_PERSON/demographics"/>
</node>
- <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
- <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
- <remap from="image_head" to="/camera_head/color/image_head"/>
- <remap from="image_torso" to="/camera_torso/color/image_torso"/>
+ <!-- launching Occupancy map (occupancymap) -->
+ <node pkg="occupancymap" name="occupancymap" type="node" output="screen">
+ <remap from="map_refined" to="/map_refined"/>
</node>
- <!-- launching Robot functional layer (robotfunctionallayer) -->
- <node pkg="robotfunctionallayer" name="robotfunctionallayer" type="node" output="screen">
+ <!-- launching respeaker_ros (respeaker_ros) -->
+ <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
+ <remap from="raw_audio" to="/audio/raw_audio"/>
</node>
- <!-- launching Interaction manager (interactionmanager) -->
- <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
+ <!-- launching Dialogue manager (dialoguemanager) -->
+ <node pkg="dialoguemanager" name="dialoguemanager" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching Object detection/identification/localisation (objectdetectionidentificationlocalisation) -->
- <node pkg="objectdetectionidentificationlocalisation" name="objectdetectionidentificationlocalisation" type="node" output="screen">
+ <!-- launching hri_fullbody (hri_fullbody) -->
+ <node pkg="hri_fullbody" name="hri_fullbody" type="node" output="screen">
<remap from="image_raw" to="/camera_head/color/image_raw"/>
+ <remap from="body_roi" to="/humans/bodies/TEST_ID_BODY/roi"/>
+ <remap from="body_skeleton2d" to="/humans/bodies/TEST_ID_BODY/skeleton2d"/>
+ <remap from="face_roi" to="/humans/faces/TEST_ID_FACE/roi"/>
</node>
- <!-- launching Robot non-verbal behaviours (robotnonverbalbehaviours) -->
- <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+ <!-- launching Speech synthesis (speechsynthesis) -->
+ <node pkg="speechsynthesis" name="speechsynthesis" 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 Sound localisation (soundlocalisation) -->
+ <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</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 Robot non-verbal behaviours (robotnonverbalbehaviours) -->
+ <node pkg="robotnonverbalbehaviours" name="robotnonverbalbehaviours" type="node" output="screen">
+ <remap from="groups" to="/humans/interactions/groups"/>
</node>
- <!-- launching Semantic mapping (semanticmapping) -->
- <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <!-- launching High-level planner (highlevelplanner) -->
+ <node pkg="highlevelplanner" name="highlevelplanner" type="node" output="screen">
</node>
- <!-- launching respeaker_ros (respeaker_ros) -->
- <node pkg="respeaker_ros" name="respeaker_ros" type="node" output="screen">
- <remap from="raw_audio" to="/audio/raw_audio"/>
+ <!-- launching Scene understanding (sceneunderstanding) -->
+ <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
</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 ROS openpose (rosopenpose) -->
+ <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
</node>
- <!-- launching Scene understanding (sceneunderstanding) -->
- <node pkg="sceneunderstanding" name="sceneunderstanding" type="node" output="screen">
+ <!-- launching ASR (asr) -->
+ <node pkg="asr" name="asr" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching People 3D pose estimation (people3dposeestimation) -->
- <node pkg="people3dposeestimation" name="people3dposeestimation" type="node" output="screen">
+ <!-- launching People 3D tracker (people3dtracker) -->
+ <node pkg="people3dtracker" name="people3dtracker" 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/<id>/roi"/>
+ <!-- launching Visual SLAM + 3D map (visualslam3dmap) -->
+ <node pkg="visualslam3dmap" name="visualslam3dmap" type="node" output="screen">
+ <remap from="image_head" to="/camera_head/color/image_head"/>
+ <remap from="image_torso" to="/camera_torso/color/image_torso"/>
</node>
- <!-- launching Robot utterances (robotutterances) -->
- <node pkg="robotutterances" name="robotutterances" type="node" output="screen">
+ <!-- launching Robot GUI (robotgui) -->
+ <node pkg="robotgui" name="robotgui" type="node" output="screen">
+ <remap from="voice_speech" to="/humans/voices/TEST_ID_VOICE/speech"/>
</node>
- <!-- launching ROS openpose (rosopenpose) -->
- <node pkg="rosopenpose" name="rosopenpose" type="node" output="screen">
+ <!-- launching Speaker recognition (speakerrecognition) -->
+ <node pkg="speakerrecognition" name="speakerrecognition" type="node" output="screen">
+ <remap from="voice_audio" to="/humans/voices/TEST_ID_VOICE/audio"/>
</node>
- <!-- launching Sound localisation (soundlocalisation) -->
- <node pkg="soundlocalisation" name="soundlocalisation" type="node" output="screen">
+ <!-- launching Semantic mapping (semanticmapping) -->
+ <node pkg="semanticmapping" name="semanticmapping" type="node" output="screen">
+ <remap from="detected_objects" to="/detected_objects"/>
+ </node>
+
+ <!-- launching Interaction manager (interactionmanager) -->
+ <node pkg="interactionmanager" name="interactionmanager" type="node" output="screen">
</node>
diff --git a/spring-mock-ws/src/springarchitecture/package.xml b/spring-mock-ws/src/springarchitecture/package.xml
index 67bf16170c3eaedf18acd719b2dc312e4923bddd..a89c6d01ce1e7990b2e472a8d33ac7abf1d12e53 100644
--- a/spring-mock-ws/src/springarchitecture/package.xml
+++ b/spring-mock-ws/src/springarchitecture/package.xml
@@ -1,52 +1,52 @@
<?xml version="1.0"?>
<package format="3">
<name>springarchitecture</name>
- <version>0.1.0</version>
- <description>EU H2020 SPRING architecture. Auto-generated by Boxology 1.3.1.</description>
+ <version>0.1.1</version>
+ <description>EU H2020 SPRING architecture. Auto-generated by Boxology 1.3.2.</description>
<maintainer email="todo@example.com">TODO</maintainer>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
- <depend>asr</depend>
- <depend>speakerrecognition</depend>
- <depend>hri_msgs</depend>
- <depend>highlevelplanner</depend>
+ <depend>rgbhead</depend>
+ <depend>speechdiarization</depend>
<depend>personreidentification</depend>
- <depend>rgbdcamera_info</depend>
- <depend>fformation</depend>
- <depend>activityreco</depend>
- <depend>nonverbalbehaviours</depend>
- <depend>robotgui</depend>
<depend>maskdetection</depend>
- <depend>speechsynthesis</depend>
- <depend>uservisualfocus</depend>
- <depend>speechdiarization</depend>
- <depend>dialoguemanager</depend>
- <depend>people3dtracker</depend>
- <depend>personmanager</depend>
- <depend>visualslam3dmap</depend>
- <depend>robotfunctionallayer</depend>
- <depend>interactionmanager</depend>
+ <depend>rgbdcamera_info</depend>
+ <depend>orbslam</depend>
<depend>objectdetectionidentificationlocalisation</depend>
- <depend>robotnonverbalbehaviours</depend>
- <depend>body2dpose</depend>
+ <depend>multipeoplebodytracker</depend>
+ <depend>hri_msgs</depend>
+ <depend>spring_msgs</depend>
+ <depend>robotfunctionallayer</depend>
+ <depend>personmanager</depend>
+ <depend>depthestimationfrommonocular</depend>
<depend>occupancymap</depend>
- <depend>softbiometrics</depend>
- <depend>rgbhead</depend>
<depend>userattentionestimation</depend>
- <depend>depthestimationfrommonocular</depend>
- <depend>semanticmapping</depend>
<depend>respeaker_ros</depend>
- <depend>orbslam</depend>
- <depend>sceneunderstanding</depend>
- <depend>people3dposeestimation</depend>
- <depend>multipeoplebodytracker</depend>
+ <depend>dialoguemanager</depend>
+ <depend>body2dpose</depend>
+ <depend>hri_fullbody</depend>
+ <depend>speechsynthesis</depend>
+ <depend>soundlocalisation</depend>
+ <depend>robotnonverbalbehaviours</depend>
+ <depend>highlevelplanner</depend>
+ <depend>nonverbalbehaviours</depend>
+ <depend>fformation</depend>
<depend>facedetection</depend>
- <depend>robotutterances</depend>
+ <depend>activityreco</depend>
+ <depend>uservisualfocus</depend>
+ <depend>softbiometrics</depend>
+ <depend>sceneunderstanding</depend>
<depend>rosopenpose</depend>
- <depend>soundlocalisation</depend>
+ <depend>asr</depend>
+ <depend>people3dtracker</depend>
+ <depend>visualslam3dmap</depend>
+ <depend>robotgui</depend>
+ <depend>speakerrecognition</depend>
+ <depend>semanticmapping</depend>
+ <depend>interactionmanager</depend>
<export>
diff --git a/spring-mock-ws/src/userattentionestimation/package.xml b/spring-mock-ws/src/userattentionestimation/package.xml
index 46e41f4e22a9b7a7321913b4740699185a4cabaf..f0851030139fbc41448d6716e815527eb5f5c0f3 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 1.3.1.</description>
+ <description>User attention estimation (UNITN) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/userattentionestimation/src/main.cpp b/spring-mock-ws/src/userattentionestimation/src/main.cpp
index 405c1ebaefe55a75fc2840151ae6eb7dc70a5039..30335936d4682a8ff6c7b6f756a25837af725743 100644
--- a/spring-mock-ws/src/userattentionestimation/src/main.cpp
+++ b/spring-mock-ws/src/userattentionestimation/src/main.cpp
@@ -23,17 +23,17 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "hri_msgs/RegionOfInterestStamped.h"
#include "tf/transform_broadcaster.h"
#include "std_msgs/Empty.h"
+#include "hri_msgs/RegionOfInterestStamped.h"
class UserAttentionEstimation {
public:
UserAttentionEstimation(ros::NodeHandle* nh) {
- face_roi_sub_ = nh->subscribe("face_roi", 1, &UserAttentionEstimation::face_roiCallback, this);
// ATTENTION: this topic is not defined in the architecture design
tffaces_sub_ = nh->subscribe("tffaces", 1, &UserAttentionEstimation::tffacesCallback, this);
+ face_roi_sub_ = nh->subscribe("face_roi", 1, &UserAttentionEstimation::face_roiCallback, this);
// ATTENTION: this topic is not defined in the architecture design
xyattentionheatmap_pub_ = nh->advertise<std_msgs::Empty>("xyattentionheatmap", 1);
@@ -42,17 +42,17 @@ class UserAttentionEstimation {
~UserAttentionEstimation() {}
private:
- void face_roiCallback(const hri_msgs::RegionOfInterestStamped::ConstPtr& msg)
+ void tffacesCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("userattentionestimation: received message: " << msg);
}
- void tffacesCallback(const std_msgs::Empty::ConstPtr& msg)
+ void face_roiCallback(const hri_msgs::RegionOfInterestStamped::ConstPtr& msg)
{
ROS_INFO_STREAM("userattentionestimation: received message: " << msg);
}
- ros::Subscriber face_roi_sub_;
ros::Subscriber tffaces_sub_;
+ ros::Subscriber face_roi_sub_;
ros::Publisher xyattentionheatmap_pub_;
diff --git a/spring-mock-ws/src/uservisualfocus/CMakeLists.txt b/spring-mock-ws/src/uservisualfocus/CMakeLists.txt
index 87d932f126e3ea3bda86452a7336a3a638e6aadb..1625100194604d42cd4d49a7daca51c7b74f7478 100644
--- a/spring-mock-ws/src/uservisualfocus/CMakeLists.txt
+++ b/spring-mock-ws/src/uservisualfocus/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
+ hri_msgs
std_msgs
)
diff --git a/spring-mock-ws/src/uservisualfocus/package.xml b/spring-mock-ws/src/uservisualfocus/package.xml
index 38e9724b08cf1ca53a7bffac65238bbe43fde3f3..75490ea4324766bc455f6c3c676ea4a739036fe4 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 1.3.1.</description>
+ <description>User visual focus (UNITN) . 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>hri_msgs</depend>
<depend>std_msgs</depend>
<export>
diff --git a/spring-mock-ws/src/uservisualfocus/src/main.cpp b/spring-mock-ws/src/uservisualfocus/src/main.cpp
index c92e2c3b087f1f8618e9b38311abca9b21b0f235..3a6b40dfa092d743c4ae7a8be043179817b9bf4b 100644
--- a/spring-mock-ws/src/uservisualfocus/src/main.cpp
+++ b/spring-mock-ws/src/uservisualfocus/src/main.cpp
@@ -24,6 +24,7 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "std_msgs/Empty.h"
+#include "hri_msgs/GazesStamped.h"
class UserVisualFocus {
public:
@@ -34,18 +35,13 @@ class UserVisualFocus {
// ATTENTION: this topic is not defined in the architecture design
gazedirection_sub_ = nh->subscribe("gazedirection", 1, &UserVisualFocus::gazedirectionCallback, this);
// ATTENTION: this topic is not defined in the architecture design
- input_sub_ = nh->subscribe("input", 1, &UserVisualFocus::inputCallback, this);
+ depth_sub_ = nh->subscribe("depth", 1, &UserVisualFocus::depthCallback, this);
// ATTENTION: this topic is not defined in the architecture design
- tffaces_sub_ = nh->subscribe("tffaces", 1, &UserVisualFocus::tffacesCallback, this);
- // ATTENTION: this topic is not defined in the architecture design
- tfpersons_sub_ = nh->subscribe("tfpersons", 1, &UserVisualFocus::tfpersonsCallback, this);
- // ATTENTION: this topic is not defined in the architecture design
- tfbodies_sub_ = nh->subscribe("tfbodies", 1, &UserVisualFocus::tfbodiesCallback, this);
+ scene_sub_ = nh->subscribe("scene", 1, &UserVisualFocus::sceneCallback, this);
- // ATTENTION: this topic is not defined in the architecture design
- whoslookingatwhohri_msgsgazesstamped_pub_ = nh->advertise<std_msgs::Empty>("whoslookingatwhohri_msgsgazesstamped", 1);
// ATTENTION: this topic is not defined in the architecture design
whoslookingatwhat_pub_ = nh->advertise<std_msgs::Empty>("whoslookingatwhat", 1);
+ gaze_pub_ = nh->advertise<hri_msgs::GazesStamped>("gaze", 1);
}
~UserVisualFocus() {}
@@ -59,32 +55,22 @@ class UserVisualFocus {
{
ROS_INFO_STREAM("uservisualfocus: received message: " << msg);
}
- void inputCallback(const std_msgs::Empty::ConstPtr& msg)
- {
- ROS_INFO_STREAM("uservisualfocus: received message: " << msg);
- }
- void tffacesCallback(const std_msgs::Empty::ConstPtr& msg)
- {
- ROS_INFO_STREAM("uservisualfocus: received message: " << msg);
- }
- void tfpersonsCallback(const std_msgs::Empty::ConstPtr& msg)
+ void depthCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("uservisualfocus: received message: " << msg);
}
- void tfbodiesCallback(const std_msgs::Empty::ConstPtr& msg)
+ void sceneCallback(const std_msgs::Empty::ConstPtr& msg)
{
ROS_INFO_STREAM("uservisualfocus: received message: " << msg);
}
ros::Subscriber attention_sub_;
ros::Subscriber gazedirection_sub_;
- ros::Subscriber input_sub_;
- ros::Subscriber tffaces_sub_;
- ros::Subscriber tfpersons_sub_;
- ros::Subscriber tfbodies_sub_;
+ ros::Subscriber depth_sub_;
+ ros::Subscriber scene_sub_;
- ros::Publisher whoslookingatwhohri_msgsgazesstamped_pub_;
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 7c784455906144c3c96f71df495938275c263da8..2eb1f3fbf16b38ecb64a89dfe8c7f9cc3d4e8bfd 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 1.3.1.</description>
+ <description>Visual SLAM + 3D map (CVUT) . Auto-generated by Boxology 1.3.2.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/spring-mock-ws/src/visualslam3dmap/src/main.cpp b/spring-mock-ws/src/visualslam3dmap/src/main.cpp
index 3037c5e8a03f5e5c3764c3398910018520c8cabb..531826c964bc2c41fef15c363a338951b8bcb475 100644
--- a/spring-mock-ws/src/visualslam3dmap/src/main.cpp
+++ b/spring-mock-ws/src/visualslam3dmap/src/main.cpp
@@ -23,8 +23,8 @@
#include "ros/ros.h"
#include "std_msgs/String.h"
-#include "tf/transform_broadcaster.h"
#include "std_msgs/Empty.h"
+#include "tf/transform_broadcaster.h"
#include "sensor_msgs/Image.h"
class VisualSlam3dMap {