diff --git a/architecture.json b/architecture.json
index 74b07149e1499bba2c809677a16f2aae0d5f66e2..40fb0f6ee903fdf25e73be432bc0143809fbf6dd 100644
--- a/architecture.json
+++ b/architecture.json
@@ -1,11 +1,5 @@
{
"architectures" : [
- {
- "description" : "BRIEF:Face-body matching\nThis node associates detected bodies to detected faces in image-space. REPO:https://gitlab.inria.fr/spring/wp3_av_perception/body_to_face_mapper",
- "name" : "body_to_face_mapper",
- "uuid" : "4bd1bc1e-a5e1-4db9-9f83-e80c15e56e08",
- "version" : "main"
- },
{
"description" : "BRIEF:Group detection (incl. f-formations)\nREPO:https://gitlab.inria.fr/spring/wp4_behavior/group_detector",
"name" : "group_detector",
@@ -18,6 +12,12 @@
"uuid" : "9ff15583-a3c7-439b-a578-91ea4afac364",
"version" : "spring_dev"
},
+ {
+ "description" : "BRIEF:Face-body matching\nThis node associates detected bodies to detected faces in image-space. REPO:https://gitlab.inria.fr/spring/wp3_av_perception/body_to_face_mapper",
+ "name" : "body_to_face_mapper",
+ "uuid" : "4bd1bc1e-a5e1-4db9-9f83-e80c15e56e08",
+ "version" : "main"
+ },
{
"description" : "BRIEF:Non-verbal behaviour generation\n ",
"name" : "MOCK: Non-verbal behaviours",
@@ -36,12 +36,6 @@
"uuid" : "6984e32b-7df5-4466-9553-c24967deef2f",
"version" : "0.0.1"
},
- {
- "description" : "BRIEF:None REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/asr.git SUBFOLDER:audio_msgs NOT EXECUTABLE",
- "name" : "DEPENDENCY: audio_msgs",
- "uuid" : "88aec3fc-6d19-455e-96fc-303c6aaab831",
- "version" : "spring_dev"
- },
{
"description" : "BRIEF:Probabilistic fusion of faces, bodies, voices into persons\nREPO:git@gitlab.inria.fr:spring/wp7_ari/hri_person_manager.git",
"name" : "hri_person_manager",
@@ -72,12 +66,6 @@
"uuid" : "28912232-55a1-48ad-bb37-c99b7f1ad079",
"version" : "0.0.1"
},
- {
- "description" : "BRIEF:ROS messages\nREPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git SUBFOLDER:robot_behaviour_msgs NOT EXECUTABLE",
- "name" : "DEPENDENCY: robot_behaviour_msgs",
- "uuid" : "9d93f431-05b6-4ee4-88ea-8bb60a01611f",
- "version" : "spring_dev"
- },
{
"description" : "BRIEF:Robot action server (body approach)\n ",
"name" : "go_to_body_action_server",
@@ -96,12 +84,6 @@
"uuid" : "0ccd4f8f-abe0-4eae-9d35-d6af509364eb",
"version" : "0.0.1"
},
- {
- "description" : "BRIEF:Speech recognition based on NVIDIA Riva\nREPO:https://gitlab.inria.fr/spring/wp3_av_perception/riva_asr_ros_client ",
- "name" : "riva_asr",
- "uuid" : "11d2ee50-fd1e-4664-be3b-1a250ec7d758",
- "version" : "main"
- },
{
"description" : "BRIEF: Voice embedding + speaker separation together (planned for Autumn 2023)",
"name" : "MOCK: speaker_extraction",
@@ -168,12 +150,6 @@
"uuid" : "23b514b9-a56c-461e-9dc0-7da9dd15e0fe",
"version" : "main"
},
- {
- "description" : "BRIEF:ROS messages\nREPO:git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git SUBFOLDER:wp4_msgs NOT EXECUTABLE",
- "name" : "DEPENDENCY: wp4_msgs",
- "uuid" : "af8592a3-f2de-4843-b29d-8868afac79be",
- "version" : "master"
- },
{
"description" : "BRIEF:Speech pre-processing (incl. end of speech detection) REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git SUBFOLDER:dialogue_speech",
"name" : "dialogue_speech",
@@ -192,12 +168,6 @@
"uuid" : "046d668f-a787-4753-ab2f-c2b04f922ad0",
"version" : "0.0.1"
},
- {
- "description" : "BRIEF:ROS messages\nREPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:social_scene_msgs NOT EXECUTABLE",
- "name" : "DEPENDENCY: social_scene_msgs",
- "uuid" : "ed680a03-e715-423d-b567-001b19ca4840",
- "version" : "spring_dev"
- },
{
"description" : "BRIEF: proxy to robot's TTS action server for ERM convenience",
"name" : "dialogue_say",
@@ -210,12 +180,6 @@
"uuid" : "8a919bc7-c80b-4325-ac63-d04f2fc1d6bb",
"version" : "master"
},
- {
- "description" : "BRIEF:ROS messages for the ROS4HRI standard\nREPO: git@gitlab:ros4hri/hri_msgs.git NOT EXECUTABLE",
- "name" : "DEPENDENCY: hri_msgs",
- "uuid" : "7590c224-e846-4f1c-9ecb-0a2992568089",
- "version" : "0.1.1"
- },
{
"description" : "BRIEF: frontal fisheye camera driver",
"name" : "fisheye",
@@ -234,18 +198,6 @@
"uuid" : "15ec41b7-dcd6-4504-88c5-5eb6b80899f2",
"version" : "2.8.0"
},
- {
- "description" : "BRIEF:ROS messages\nREPO:git@gitlab.inria.fr:spring/wp7_ari/spring_msgs.git NOT EXECUTABLE",
- "name" : "DEPENDENCY: spring_msgs",
- "uuid" : "754b3165-805d-469a-b604-4dfef5453911",
- "version" : "0.0.2"
- },
- {
- "description" : "BRIEF:ROS messages\nREPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager_msgs NOT EXECUTABLE",
- "name" : "DEPENDENCY: interaction_manager_msgs",
- "uuid" : "269a1164-ad2d-488c-9b86-b4256faddf9f",
- "version" : "spring_dev"
- },
{
"description" : "The code is primarily developed at INRIA by Timothée Wintz.\nREPO: https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior\nSUBFOLDER:src/robot_behavior",
"name" : "robot_behavior",
@@ -356,12 +308,84 @@
},
{
"connections" : [
+ {
+ "from" : "fdc2f6fa-4c2c-44ae-9753-d422212a099b:count_active_speakers",
+ "name" : "anonymous",
+ "to" : "30cd9b16-1d15-497d-ba05-5c578e71f694:count_active_speakers",
+ "uuid" : "629b43d6-a999-43f8-be4d-25fa655fb23f"
+ },
+ {
+ "from" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/humans/candidate_matches [hri_msgs/IdsMatch]",
+ "name" : "anonymous",
+ "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/humans/candidate_matches [hri_msgs/IdsMatch]",
+ "uuid" : "4a8ca862-079c-40e4-96a8-231cad8c087f"
+ },
+ {
+ "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/head_front_camera/color/image_raw [sensor_msgs/Image]",
+ "name" : "anonymous",
+ "to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/head_front_camera/color/image_raw/compressed",
+ "uuid" : "1fb9d2e7-103a-4355-b2a9-dc3debc7be30"
+ },
+ {
+ "from" : "a1d01235-a287-4e67-900b-d0e446924e2a:output?",
+ "name" : "anonymous",
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:input",
+ "uuid" : "e0c6d3fc-5ee7-4ca7-a0a9-cf3ace272ace"
+ },
+ {
+ "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/...",
+ "name" : "anonymous",
+ "to" : "aa83a592-d631-44a2-bbaa-f812b8669bc7:/h/p/tracked",
+ "uuid" : "c69f156e-9bd8-465d-8ab3-8dda7007ee45"
+ },
+ {
+ "from" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/*_basestation/fisheye/... [sensor_msgs/Image]",
+ "name" : "anonymous",
+ "to" : "57c4f67f-9225-4bdc-9142-f9e92c2cada8:/front_camera/fisheye/image_raw/compressed",
+ "uuid" : "c51a7cbe-137e-4b4a-b9a0-20eba4b459c1"
+ },
+ {
+ "from" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90:/h/f/*/cropped [sensor_msg/Image]",
+ "name" : "anonymous",
+ "to" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a:/h/f/*/cropped [sensor_msg/Image]",
+ "uuid" : "33633a2c-04a4-42eb-949f-f8bdb137833c"
+ },
+ {
+ "from" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/*_basestation/fisheye/... [sensor_msgs/Image]",
+ "name" : "anonymous",
+ "to" : "c9b76975-8236-4440-8693-6756fef3990b:/front_camera/fisheye/image_raw [sensor_msgs/Image]",
+ "uuid" : "d6fc7848-5449-4fad-93e1-cbf2e8677750"
+ },
+ {
+ "from" : "409d9526-77ed-4ee3-bae9-ab48381e0b28:/torso_front_camera/color/image_raw [sensor_msgs/Image]",
+ "name" : "anonymous",
+ "to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/front_camera/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]",
+ "uuid" : "f1c595fc-8ada-4453-a680-6ed6bb448ffa"
+ },
{
"from" : "3cf6f1fb-04b3-43fa-b320-b1eb1f81505f:/slam/obstacle_map [OccupancyGrid]",
"name" : "anonymous",
"to" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44:/slam/obstacle_map [OccupancyGrid]",
"uuid" : "b7364a5a-ceb2-443c-af37-2a728c4230de"
},
+ {
+ "from" : "910781c7-928f-4445-a97b-6fbad208066f:pointcloud",
+ "name" : "anonymous",
+ "to" : "3cf6f1fb-04b3-43fa-b320-b1eb1f81505f:torso pointcloud",
+ "uuid" : "8d8132f3-0479-4741-b0f8-6ad7a71c04dc"
+ },
+ {
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
+ "name" : "anonymous",
+ "to" : "4d1289b0-8d15-4c6c-ba82-f4fb9c3f4f17:/controller_status [ControllerStatus]",
+ "uuid" : "76e0492e-f642-4ebf-af53-3f86b5c457bb"
+ },
+ {
+ "from" : "9f0e4a90-79fb-4f15-b769-f539dd6ccc71:/h/b/*/skeleton2d [hri_msg/Skeleton2D]",
+ "name" : "anonymous",
+ "to" : "c9b76975-8236-4440-8693-6756fef3990b:/h/b/*/skeleton2d [hri_msg/Skeleton2D]",
+ "uuid" : "e7fb301f-b3ec-424f-aa1f-a764731a9fb5"
+ },
{
"from" : "35d5af59-53e3-466c-874d-89131352c403:/updates",
"name" : "anonymous",
@@ -392,12 +416,6 @@
"to" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6:goal",
"uuid" : "782a3dc0-ab15-46fd-b807-47205e93b52c"
},
- {
- "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/tracked [hri_msgs/IdsList]",
- "name" : "anonymous",
- "to" : "49998d33-7c64-4557-b1c9-56b241b59600:/h/v/tracked [hri_msgs/IdsList]",
- "uuid" : "9c2706ae-a494-4a78-a944-834fe7c4d97f"
- },
{
"from" : "9a5658f1-943d-4889-8e2a-0735ee5de159:/look_at [LookAt]",
"name" : "anonymous",
@@ -476,24 +494,12 @@
"to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/interaction_manager/query [service]",
"uuid" : "5f958a4f-4e9b-4339-9a4b-bc4184294be4"
},
- {
- "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/tracked [hri_msgs/IdsList]",
- "name" : "anonymous",
- "to" : "172516ca-a279-42a7-b515-ba2257887296:/humans/voices/tracked",
- "uuid" : "211c858d-1555-493f-aef2-d36c5872bb81"
- },
{
"from" : "910781c7-928f-4445-a97b-6fbad208066f:/torso_front_camera/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
"to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/torso_front_camera/aligned_depth_to_color/image_raw/theora",
"uuid" : "25aa5561-a18f-4039-90e5-8083440cbfca"
},
- {
- "from" : "63835655-4d0a-4d5a-9849-365826ee7738:/audio/speaker2/stream [audio_common_msgs/AudioData]",
- "name" : "anonymous",
- "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/humans/voices/speaker2/stream [audio_common_msgs/AudioData]",
- "uuid" : "7c61b1f6-932a-433a-b262-a393b0aab362"
- },
{
"from" : "bf22a99b-3b6f-416c-b967-8b4df877a72e:/go_towards [GoTowards]",
"name" : "anonymous",
@@ -536,12 +542,6 @@
"to" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:/humans/persons/tracked",
"uuid" : "ad7dd3e2-3743-4761-a1f7-2cbf3783df83"
},
- {
- "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/*/audio [audio_common_msgs/AudioData]",
- "name" : "anonymous",
- "to" : "49998d33-7c64-4557-b1c9-56b241b59600:/h/v/*/audio [audio_common_msgs/AudioData]",
- "uuid" : "69f97c03-347d-465f-9b4e-414ab5dda4c9"
- },
{
"from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
"name" : "anonymous",
@@ -572,12 +572,6 @@
"to" : "35d5af59-53e3-466c-874d-89131352c403:/task*_ros_server_action [action]",
"uuid" : "4fbf5aeb-0cec-4f04-9fbf-20ecb50a6477"
},
- {
- "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/*/audio [audio_common_msgs/AudioData]",
- "name" : "anonymous",
- "to" : "3ff4bbe5-0031-4fd1-af28-cd7bd92c0981:/h/v/*/audio [audio_common_msgs/AudioData]",
- "uuid" : "ccad50ef-3df0-49e8-a543-ab6d00fe87fd"
- },
{
"from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/...",
"name" : "anonymous",
@@ -608,30 +602,12 @@
"to" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44:/slam/occupancy_map [OccupancyGrid]",
"uuid" : "1bed6e12-acfb-4ff4-a7f8-559ad7df5b2a"
},
- {
- "from" : "49998d33-7c64-4557-b1c9-56b241b59600:/h/v/*/speech [hri_msgs/LiveSpeech]",
- "name" : "anonymous",
- "to" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3:/h/v/*/speech [hri_msgs/LiveSpeech]",
- "uuid" : "a934598a-0e35-42c6-bae8-7bf2a38205a1"
- },
{
"from" : "35d5af59-53e3-466c-874d-89131352c403:/queries",
"name" : "anonymous",
"to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_arbitrer/query [service]",
"uuid" : "06375299-1ca4-45db-9866-d73f5a7dda00"
},
- {
- "from" : "63835655-4d0a-4d5a-9849-365826ee7738:/audio/speaker1/doa [std_msgs/Float32]",
- "name" : "anonymous",
- "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/humans/voices/speaker1/doa [std_msgs/Float32]",
- "uuid" : "2add0296-8bab-46b0-9763-4debfef27287"
- },
- {
- "from" : "3ff4bbe5-0031-4fd1-af28-cd7bd92c0981:/h/v/*/speech [hri_msgs/LiveSpeech]",
- "name" : "anonymous",
- "to" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3:/h/v/*/speech [hri_msgs/LiveSpeech]",
- "uuid" : "9ddf2c8d-7d8c-4467-88f5-fc044f2e903f"
- },
{
"from" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90:/humans/faces/tracked [hri_msgs/IdsList]",
"name" : "anonymous",
@@ -695,7 +671,7 @@
{
"from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/raw_audio [audio_common_msgs/AudioData]",
"name" : "anonymous",
- "to" : "63835655-4d0a-4d5a-9849-365826ee7738:/audio/raw_audio [audio_common_msgs/AudioData]",
+ "to" : "63835655-4d0a-4d5a-9849-365826ee7738:/audio/raw_audio",
"uuid" : "a9550dcf-8884-4f05-b2ab-8eb9f15f46ed"
},
{
@@ -782,12 +758,6 @@
"to" : "49035386-4f22-41d7-a281-71dcc64592bc:/*_basestation/head_front_camera/... [sensor_msgs/Image]",
"uuid" : "a260422a-d515-4fb6-9760-9bd2e396d50b"
},
- {
- "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/ego_audio [audio_common_msgs/AudioData]",
- "name" : "anonymous",
- "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/audio/ego_audio [audio_common_msgs/AudioData]",
- "uuid" : "6ee617f3-66ef-447b-93b0-f328fe29ea79"
- },
{
"from" : "35d5af59-53e3-466c-874d-89131352c403:/updates",
"name" : "anonymous",
@@ -806,48 +776,6 @@
"to" : "5a0113b6-a999-4339-8e21-44f3b8b3d693:/kb/add_fact [std_msgs/String]",
"uuid" : "32a45d48-e0c9-4be6-b445-585a3dc2874e"
},
- {
- "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/...",
- "name" : "anonymous",
- "to" : "aa83a592-d631-44a2-bbaa-f812b8669bc7:/h/p/tracked",
- "uuid" : "c69f156e-9bd8-465d-8ab3-8dda7007ee45"
- },
- {
- "from" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/*_basestation/fisheye/... [sensor_msgs/Image]",
- "name" : "anonymous",
- "to" : "57c4f67f-9225-4bdc-9142-f9e92c2cada8:/front_camera/fisheye/image_raw/compressed",
- "uuid" : "c51a7cbe-137e-4b4a-b9a0-20eba4b459c1"
- },
- {
- "from" : "409d9526-77ed-4ee3-bae9-ab48381e0b28:/torso_front_camera/color/image_raw [sensor_msgs/Image]",
- "name" : "anonymous",
- "to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/front_camera/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]",
- "uuid" : "f1c595fc-8ada-4453-a680-6ed6bb448ffa"
- },
- {
- "from" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/*_basestation/fisheye/... [sensor_msgs/Image]",
- "name" : "anonymous",
- "to" : "c9b76975-8236-4440-8693-6756fef3990b:/front_camera/fisheye/image_raw [sensor_msgs/Image]",
- "uuid" : "d6fc7848-5449-4fad-93e1-cbf2e8677750"
- },
- {
- "from" : "63835655-4d0a-4d5a-9849-365826ee7738:/audio/speaker1/stream [audio_common_msgs/AudioData]",
- "name" : "anonymous",
- "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/humans/voices/speaker1/stream [audio_common_msgs/AudioData]",
- "uuid" : "329ebd1d-4bf3-4f85-b925-c745d6666a23"
- },
- {
- "from" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/humans/candidate_matches [hri_msgs/IdsMatch]",
- "name" : "anonymous",
- "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/humans/candidate_matches [hri_msgs/IdsMatch]",
- "uuid" : "4a8ca862-079c-40e4-96a8-231cad8c087f"
- },
- {
- "from" : "a1d01235-a287-4e67-900b-d0e446924e2a:output?",
- "name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:input",
- "uuid" : "e0c6d3fc-5ee7-4ca7-a0a9-cf3ace272ace"
- },
{
"from" : "f845ee2c-4cb3-4cae-bde9-8ac2ba692ee7:/dialogue_nlp/nlu [JSON String]",
"name" : "anonymous",
@@ -860,36 +788,6 @@
"to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/torso_front_camera/color/image_raw/theora",
"uuid" : "41b7678b-dcf8-429b-a17d-ffbe2f916995"
},
- {
- "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/tracked [hri_msgs/IdsList]",
- "name" : "anonymous",
- "to" : "3ff4bbe5-0031-4fd1-af28-cd7bd92c0981:/h/v/tracked [hri_msgs/IdsList]",
- "uuid" : "0de9cdaa-12f8-47fb-b8b2-cf7fcd27b131"
- },
- {
- "from" : "9f0e4a90-79fb-4f15-b769-f539dd6ccc71:/h/b/*/skeleton2d [hri_msg/Skeleton2D]",
- "name" : "anonymous",
- "to" : "c9b76975-8236-4440-8693-6756fef3990b:/h/b/*/skeleton2d [hri_msg/Skeleton2D]",
- "uuid" : "e7fb301f-b3ec-424f-aa1f-a764731a9fb5"
- },
- {
- "from" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90:/h/f/*/cropped [sensor_msg/Image]",
- "name" : "anonymous",
- "to" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a:/h/f/*/cropped [sensor_msg/Image]",
- "uuid" : "33633a2c-04a4-42eb-949f-f8bdb137833c"
- },
- {
- "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
- "name" : "anonymous",
- "to" : "4d1289b0-8d15-4c6c-ba82-f4fb9c3f4f17:/controller_status [ControllerStatus]",
- "uuid" : "76e0492e-f642-4ebf-af53-3f86b5c457bb"
- },
- {
- "from" : "910781c7-928f-4445-a97b-6fbad208066f:pointcloud",
- "name" : "anonymous",
- "to" : "3cf6f1fb-04b3-43fa-b320-b1eb1f81505f:torso pointcloud",
- "uuid" : "8d8132f3-0479-4741-b0f8-6ad7a71c04dc"
- },
{
"from" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/*_basestation/head_front_camera/... [sensor_msgs/Image]",
"name" : "anonymous",
@@ -920,12 +818,6 @@
"to" : "633be9cd-9f1b-4cdd-b708-a1edd3742842:/*_basestation/head_front_camera/... [sensor_msgs/Image]",
"uuid" : "76b2d4a7-667c-4821-a30f-7b80d05260ed"
},
- {
- "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/audio/is_listening",
- "name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/audio/is_listening",
- "uuid" : "d68ab13d-5adf-4b9a-aa8f-d805df483ebf"
- },
{
"from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/dialogue_start",
"name" : "anonymous",
@@ -938,12 +830,6 @@
"to" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]",
"uuid" : "9d1c7d46-8013-4520-b4b4-c1e4aecb1f23"
},
- {
- "from" : "63835655-4d0a-4d5a-9849-365826ee7738:/audio/speaker2/doa [std_msgs/Float32]",
- "name" : "anonymous",
- "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/humans/voices/speaker2/doa [std_msgs/Float32]",
- "uuid" : "3c4f14e2-cb5e-4303-896b-34dbea65c102"
- },
{
"from" : "633be9cd-9f1b-4cdd-b708-a1edd3742842:/depth_estimation [sensor_msgs/Image]",
"name" : "anonymous",
@@ -962,18 +848,6 @@
"to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/navigate [Navigate]",
"uuid" : "f079a4f9-9fbb-44bc-8f51-24e96f94d674"
},
- {
- "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/head_front_camera/color/image_raw [sensor_msgs/Image]",
- "name" : "anonymous",
- "to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/head_front_camera/color/image_raw/compressed",
- "uuid" : "1fb9d2e7-103a-4355-b2a9-dc3debc7be30"
- },
- {
- "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:tf: /voice_*",
- "name" : "anonymous",
- "to" : "172516ca-a279-42a7-b515-ba2257887296:tf: /voice_*",
- "uuid" : "57f369c0-8b58-4ae7-a8dd-0d07c55017c0"
- },
{
"from" : "328fd73c-ead7-4b87-a815-401958fa77a2:/controller_status",
"name" : "anonymous",
@@ -1009,40 +883,103 @@
"name" : "anonymous",
"to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/go_towards [GoTowards]",
"uuid" : "9662dbe9-6e01-4ec3-a983-80cb2e37efb8"
+ },
+ {
+ "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/raw_audio [audio_common_msgs/AudioData]",
+ "name" : "anonymous",
+ "to" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/audio/raw_audio ",
+ "uuid" : "4d1e8e4e-0ad9-4972-8f07-4248171cb5e5"
+ },
+ {
+ "from" : "63835655-4d0a-4d5a-9849-365826ee7738:streams",
+ "name" : "anonymous",
+ "to" : "7439ab30-129c-4f3a-9886-149ba213c18c:streams",
+ "uuid" : "367d802a-4931-4f0e-a9e2-b468d85a869b"
+ },
+ {
+ "from" : "7439ab30-129c-4f3a-9886-149ba213c18c:/audio/voice_stream* [audio_common_msgs/AudioData]",
+ "name" : "anonymous",
+ "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/audio/voice_stream*",
+ "uuid" : "148c6a99-f0e5-4753-9806-fa76056aade6"
+ },
+ {
+ "from" : "fdc2f6fa-4c2c-44ae-9753-d422212a099b:count_active_speakers",
+ "name" : "anonymous",
+ "to" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:count_active_speakers",
+ "uuid" : "c7cc0de5-c45f-486c-9440-7235b397e93d"
+ },
+ {
+ "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/raw_audio [audio_common_msgs/AudioData]",
+ "name" : "anonymous",
+ "to" : "fdc2f6fa-4c2c-44ae-9753-d422212a099b:/audio/raw_audio",
+ "uuid" : "cafdf210-ad4a-42b1-b1d2-89680b7c2d06"
+ },
+ {
+ "from" : "23a0d365-d60b-45d7-b229-a04bed5e41bb:/h/v/*/audio [audio_common_msgs/AudioData]",
+ "name" : "anonymous",
+ "to" : "30cd9b16-1d15-497d-ba05-5c578e71f694:active_voices",
+ "uuid" : "7a89f0db-ce27-421e-8165-52467fc5540d"
+ },
+ {
+ "from" : "7439ab30-129c-4f3a-9886-149ba213c18c:/audio/voice_stream* [audio_common_msgs/AudioData]",
+ "name" : "anonymous",
+ "to" : "30cd9b16-1d15-497d-ba05-5c578e71f694:processed_audio",
+ "uuid" : "7ae77930-5321-4b92-b384-39d046496b5c"
+ },
+ {
+ "from" : "30cd9b16-1d15-497d-ba05-5c578e71f694:/h/v/*/speech [hri_msgs/LiveSpeech]",
+ "name" : "anonymous",
+ "to" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3:/h/v/*/speech [hri_msgs/LiveSpeech]",
+ "uuid" : "e1913138-7636-4c96-98db-69fb08057f4c"
+ },
+ {
+ "from" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:/tts/feedback",
+ "name" : "anonymous",
+ "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/tts/feedback",
+ "uuid" : "e390735e-d458-4e9b-948d-f1984c613edc"
+ },
+ {
+ "from" : "30cd9b16-1d15-497d-ba05-5c578e71f694:tf: /voice_*",
+ "name" : "anonymous",
+ "to" : "172516ca-a279-42a7-b515-ba2257887296:tf: /voice_*",
+ "uuid" : "30a3321b-0981-4b60-afd4-608a493fe037"
}
],
- "description" : "EU H2020 SPRING -- D7.4: Mature Software Architecture",
+ "description" : "EU H2020 SPRING -- D7.5: Final Software Architecture",
"name" : "SPRING architecture",
"nodes" : [
{
- "label" : "INRIA",
- "name" : "body_to_face_mapper",
+ "label" : "BIU",
+ "name" : "audio_arbitrer",
"ports" : [
{
"direction" : "in",
- "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
+ "name" : "count_active_speakers"
},
{
- "direction" : "in",
- "name" : "/humans/bodies/tracked [hri_msgs/IdsList]"
+ "direction" : "out",
+ "name" : "tf: /voice_*"
},
{
"direction" : "out",
- "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
+ "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
},
{
"direction" : "in",
- "name" : "/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
+ "name" : "processed_audio"
},
{
"direction" : "in",
- "name" : "/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
+ "name" : "active_voices"
+ },
+ {
+ "direction" : "out",
+ "name" : "/h/v/*/doa [std_msgs/Float32]"
}
],
- "position" : [ 3400, 1940 ],
- "size" : [ 420, 200 ],
- "sub_architecture" : "4bd1bc1e-a5e1-4db9-9f83-e80c15e56e08",
- "uuid" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8"
+ "position" : [ 3200, 280 ],
+ "size" : [ 420, 740 ],
+ "uuid" : "30cd9b16-1d15-497d-ba05-5c578e71f694"
},
{
"label" : "INRIA",
@@ -1050,15 +987,15 @@
"ports" : [
{
"direction" : "out",
- "name" : "/h/g/*/members [hri_msgs/IdList]"
+ "name" : "/h/g/tracked [hri_msgs/IdList]"
},
{
"direction" : "out",
- "name" : "/h/g/tracked [hri_msgs/IdList]"
+ "name" : "tf: /group_*"
},
{
"direction" : "out",
- "name" : "tf: /group_*"
+ "name" : "/h/g/*/members [hri_msgs/IdList]"
},
{
"direction" : "in",
@@ -1069,8 +1006,8 @@
"name" : "tf: /person_*"
}
],
- "position" : [ 4400, 2800 ],
- "size" : [ 380, 200 ],
+ "position" : [ 6980, 2520 ],
+ "size" : [ 520, 239 ],
"sub_architecture" : "ac9968c7-7626-4459-a7b3-ccbfaaac682c",
"uuid" : "aa83a592-d631-44a2-bbaa-f812b8669bc7"
},
@@ -1111,11 +1048,41 @@
"name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
}
],
- "position" : [ 6020, 1540 ],
- "size" : [ 400, 293 ],
+ "position" : [ 5580, 880 ],
+ "size" : [ 680, 260 ],
"sub_architecture" : "9ff15583-a3c7-439b-a578-91ea4afac364",
"uuid" : "35d5af59-53e3-466c-874d-89131352c403"
},
+ {
+ "label" : "INRIA",
+ "name" : "body_to_face_mapper",
+ "ports" : [
+ {
+ "direction" : "in",
+ "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/humans/bodies/tracked [hri_msgs/IdsList]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
+ }
+ ],
+ "position" : [ 3780, 1780 ],
+ "size" : [ 580, 239 ],
+ "sub_architecture" : "4bd1bc1e-a5e1-4db9-9f83-e80c15e56e08",
+ "uuid" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8"
+ },
{
"label" : "UNITN",
"name" : "emotion_estimation",
@@ -1129,14 +1096,14 @@
"name" : "/h/f/*/expression [hri_msgs/Expression]"
}
],
- "position" : [ 2740, 2840 ],
- "size" : [ 600, 140 ],
+ "position" : [ 3080, 2960 ],
+ "size" : [ 700, 120 ],
"sub_architecture" : "4beabc83-79c9-482d-8b56-d7f36ed58492",
"uuid" : "e9861836-caed-4c19-87e2-13ba1a380613"
},
{
"label" : "CVUT",
- "name" : "MOCK: Yolact3D",
+ "name" : "Yolact3D [future]",
"ports" : [
{
"direction" : "in",
@@ -1152,15 +1119,15 @@
},
{
"direction" : "in",
- "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
+ "name" : "/torso_front_camera/aligned_depth_to_color [sensor_msgs/Image"
},
{
"direction" : "in",
- "name" : "/torso_front_camera/aligned_depth_to_color [sensor_msgs/Image"
+ "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
}
],
- "position" : [ 3780, 3580 ],
- "size" : [ 520, 240 ],
+ "position" : [ 4120, 3700 ],
+ "size" : [ 440, 239 ],
"sub_architecture" : "cc914ac9-9aa0-4b00-8328-f9378e229ae9",
"uuid" : "b357b248-d5a8-445d-9c09-5c567d074966"
},
@@ -1185,19 +1152,11 @@
"name" : "/humans/faces/tracked [hri_msgs/IdsList]"
}
],
- "position" : [ 1920, 2300 ],
- "size" : [ 427, 231 ],
+ "position" : [ 2260, 2420 ],
+ "size" : [ 460, 138 ],
"sub_architecture" : "6984e32b-7df5-4466-9553-c24967deef2f",
"uuid" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90"
},
- {
- "label" : "HWU",
- "name" : "DEPENDENCY: audio_msgs",
- "position" : [ 8220, 3940 ],
- "size" : [ 340, 120 ],
- "sub_architecture" : "88aec3fc-6d19-455e-96fc-303c6aaab831",
- "uuid" : "19d263e5-e380-457f-84ba-67b9a4b3ce0b"
- },
{
"label" : "PAL",
"name" : "hri_person_manager",
@@ -1210,17 +1169,17 @@
"direction" : "out",
"name" : "/h/p/tracked [hri_msgs/IdsList]"
},
- {
- "direction" : "in",
- "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
- },
{
"direction" : "out",
"name" : "tf: /person_*"
+ },
+ {
+ "direction" : "in",
+ "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
}
],
- "position" : [ 4080, 2080 ],
- "size" : [ 360, 380 ],
+ "position" : [ 4620, 1760 ],
+ "size" : [ 540, 820 ],
"sub_architecture" : "1f5e18f3-1be0-4e21-a3e1-439a597fe002",
"uuid" : "43da963c-18a8-4ad7-86f6-f361a9d25d36"
},
@@ -1230,23 +1189,23 @@
"ports" : [
{
"direction" : "in",
- "name" : "/experiment_exporter/file_update [String]"
+ "name" : "/dialogue_say/text [String]"
},
{
"direction" : "in",
- "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
+ "name" : "/experiment_exporter/file_update [String]"
},
{
"direction" : "in",
- "name" : "/experiment_exporter/error_feedback [String]"
+ "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
},
{
"direction" : "in",
- "name" : "/dialogue_say/text [String]"
+ "name" : "/experiment_exporter/error_feedback [String]"
}
],
- "position" : [ 7780, 960 ],
- "size" : [ 456, 293 ],
+ "position" : [ 8060, 40 ],
+ "size" : [ 620, 240 ],
"sub_architecture" : "923f34e5-2023-4f02-985d-3e7f472b861f",
"uuid" : "d4763e1f-4652-42ee-ae51-b4f2447f4d9a"
},
@@ -1254,34 +1213,34 @@
"label" : "PAL",
"name" : "Robot functional layer",
"ports" : [
- {
- "direction" : "out",
- "name" : "/joint_states"
- },
{
"direction" : "in",
"name" : "input"
+ },
+ {
+ "direction" : "out",
+ "name" : "/joint_states"
}
],
- "position" : [ 8440, 2300 ],
- "size" : [ 240, 520 ],
+ "position" : [ 9720, 1360 ],
+ "size" : [ 560, 1120 ],
"sub_architecture" : "69547d1d-f0ba-4ebf-b19b-f8cc5e63fd36",
"uuid" : "20eb61ac-3243-41ed-b855-451cd88e4ae5"
},
{
- "label" : "UNITN",
- "name" : "depth_estimation",
- "ports" : [
- {
- "direction" : "out",
- "name" : "/depth_estimation [sensor_msgs/Image]"
- },
+ "label" : "UNITN",
+ "name" : "depth_estimation",
+ "ports" : [
{
"direction" : "in",
"name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/depth_estimation [sensor_msgs/Image]"
}
],
- "position" : [ 1940, 2980 ],
+ "position" : [ 2340, 3140 ],
"size" : [ 460, 140 ],
"sub_architecture" : "bc0aa7fa-7aef-44a0-8cd1-48e4a3e87e7b",
"uuid" : "633be9cd-9f1b-4cdd-b708-a1edd3742842"
@@ -1303,19 +1262,11 @@
"name" : "/controller_status [ControllerStatus]"
}
],
- "position" : [ 7100, 2820 ],
- "size" : [ 271, 138 ],
+ "position" : [ 8080, 2160 ],
+ "size" : [ 780, 147 ],
"sub_architecture" : "28912232-55a1-48ad-bb37-c99b7f1ad079",
"uuid" : "9a5658f1-943d-4889-8e2a-0735ee5de159"
},
- {
- "label" : "HWU",
- "name" : "DEPENDENCY: robot_behaviour_msgs",
- "position" : [ 7560, 3940 ],
- "size" : [ 300, 120 ],
- "sub_architecture" : "9d93f431-05b6-4ee4-88ea-8bb60a01611f",
- "uuid" : "ef2aa285-f20c-40de-a0fe-b4bb37a9ee8a"
- },
{
"label" : "INRIA",
"name" : "go_to_body_action_server",
@@ -1333,8 +1284,8 @@
"name" : "/controller_status [ControllerStatus]"
}
],
- "position" : [ 7100, 2180 ],
- "size" : [ 271, 138 ],
+ "position" : [ 8080, 1520 ],
+ "size" : [ 780, 147 ],
"sub_architecture" : "afd60208-b9e3-47d6-91db-ff98641995c4",
"uuid" : "2fb3e19c-7562-4c43-bd74-c043a5efec7c"
},
@@ -1355,8 +1306,8 @@
"name" : "/controller_status [ControllerStatus]"
}
],
- "position" : [ 7100, 2980 ],
- "size" : [ 271, 138 ],
+ "position" : [ 8080, 2320 ],
+ "size" : [ 780, 160 ],
"sub_architecture" : "a5174b81-fea1-4d89-bfe5-7c909fcb134f",
"uuid" : "4d1289b0-8d15-4c6c-ba82-f4fb9c3f4f17"
},
@@ -1381,56 +1332,26 @@
"name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
}
],
- "position" : [ 40, 2400 ],
- "size" : [ 432, 169 ],
+ "position" : [ 380, 2540 ],
+ "size" : [ 432, 239 ],
"sub_architecture" : "0ccd4f8f-abe0-4eae-9d35-d6af509364eb",
"uuid" : "910781c7-928f-4445-a97b-6fbad208066f"
},
{
"label" : "BIU",
- "name" : "riva_asr_0",
- "ports" : [
- {
- "direction" : "in",
- "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
- },
- {
- "direction" : "in",
- "name" : "/h/v/tracked [hri_msgs/IdsList]"
- },
- {
- "direction" : "out",
- "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
- }
- ],
- "position" : [ 4140, 400 ],
- "size" : [ 540, 169 ],
- "sub_architecture" : "11d2ee50-fd1e-4664-be3b-1a250ec7d758",
- "uuid" : "49998d33-7c64-4557-b1c9-56b241b59600"
- },
- {
- "label" : "BIU",
- "name" : "MOCK: speaker_extraction",
+ "name" : "speaker_extraction",
"ports" : [
- {
- "direction" : "out",
- "name" : "/audio/stream* [audio_common_msgs/AudioData]"
- },
{
"direction" : "in",
- "name" : "database of voice embeddings"
+ "name" : "streams"
},
{
"direction" : "out",
- "name" : "/audio/doa* [std_msgs/Float32]"
- },
- {
- "direction" : "in",
- "name" : "/audio/raw_audio [audio_common_msgs/AudioData]"
+ "name" : "/audio/voice_stream* [audio_common_msgs/AudioData]"
}
],
- "position" : [ 2380, 800 ],
- "size" : [ 1440, 180 ],
+ "position" : [ 1980, 580 ],
+ "size" : [ 500, 260 ],
"sub_architecture" : "9a662d15-0e9a-4d34-bf73-ab087206578f",
"uuid" : "7439ab30-129c-4f3a-9886-149ba213c18c"
},
@@ -1443,14 +1364,14 @@
"name" : "output?"
}
],
- "position" : [ 5560, 2520 ],
- "size" : [ 200, 120 ],
+ "position" : [ 5700, 1700 ],
+ "size" : [ 740, 120 ],
"sub_architecture" : "02a6c7d9-b0e8-4b4c-a838-56a4990ca96c",
"uuid" : "a1d01235-a287-4e67-900b-d0e446924e2a"
},
{
"label" : "ERM",
- "name" : "exp_gui",
+ "name" : "experimenter_gui",
"ports" : [
{
"direction" : "out",
@@ -1460,14 +1381,6 @@
"direction" : "in",
"name" : "/dialogue_start/status"
},
- {
- "direction" : "out",
- "name" : "/experiment_exporter/error_feedback [String]"
- },
- {
- "direction" : "out",
- "name" : "/experiment_exporter/file_update [String]"
- },
{
"direction" : "in",
"name" : "/diagnostics"
@@ -1487,9 +1400,17 @@
{
"direction" : "in",
"name" : "/slam/localization_pose"
+ },
+ {
+ "direction" : "out",
+ "name" : "/experiment_exporter/error_feedback [String]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/experiment_exporter/file_update [String]"
}
],
- "position" : [ 7040, 620 ],
+ "position" : [ 7380, 300 ],
"size" : [ 580, 324 ],
"sub_architecture" : "68debd5e-9e7a-486c-a58e-d553009e0cb3",
"uuid" : "2a909616-5a85-49b8-aafb-37daaa76d48c"
@@ -1518,10 +1439,6 @@
"direction" : "out",
"name" : "/task*_ros_server_action [action]"
},
- {
- "direction" : "in",
- "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
- },
{
"direction" : "in",
"name" : "/register_server [service]"
@@ -1533,16 +1450,20 @@
{
"direction" : "out",
"name" : "/dialogue_say/say [service]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
}
],
- "position" : [ 6020, 1180 ],
- "size" : [ 400, 340 ],
+ "position" : [ 5580, 420 ],
+ "size" : [ 680, 420 ],
"sub_architecture" : "e2ee44b3-4f04-4a27-a947-525fae05035d",
"uuid" : "9ab39362-e233-44d2-9d06-dd24694446f2"
},
{
"label" : "UNITN",
- "name" : "MOCK: activity_recognition",
+ "name" : "activity_recognition [future]",
"ports" : [
{
"direction" : "in",
@@ -1553,8 +1474,8 @@
"name" : "[?] output to be defined + added to hri_msgs if possible"
}
],
- "position" : [ 3500, 2720 ],
- "size" : [ 520, 160 ],
+ "position" : [ 4000, 2780 ],
+ "size" : [ 720, 140 ],
"sub_architecture" : "96cd31ae-5485-40db-8b27-b5a09888f810",
"uuid" : "d715b004-7177-4001-bd9d-725e87789c94"
},
@@ -1571,8 +1492,8 @@
"name" : "/slam/obstacle_map [OccupancyGrid]"
}
],
- "position" : [ 2200, 3280 ],
- "size" : [ 440, 138 ],
+ "position" : [ 2540, 3400 ],
+ "size" : [ 520, 120 ],
"uuid" : "3cf6f1fb-04b3-43fa-b320-b1eb1f81505f"
},
{
@@ -1592,8 +1513,8 @@
"name" : "kb"
}
],
- "position" : [ 5560, 2340 ],
- "size" : [ 199, 138 ],
+ "position" : [ 5700, 1520 ],
+ "size" : [ 740, 147 ],
"sub_architecture" : "4f0b2a37-97ff-46ee-aff2-77001218ba31",
"uuid" : "3dc083e8-26cc-448f-ae1e-25263c9f066f"
},
@@ -1610,8 +1531,8 @@
"name" : "/h/f/*/cropped [sensor_msg/Image]"
}
],
- "position" : [ 2740, 2460 ],
- "size" : [ 600, 160 ],
+ "position" : [ 3080, 2580 ],
+ "size" : [ 700, 120 ],
"sub_architecture" : "b343b3de-f4eb-412c-ae93-fca0f090ee5d",
"uuid" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a"
},
@@ -1632,8 +1553,8 @@
"name" : "/front_camera/fisheye/image_raw [sensor_msgs/Image]"
}
],
- "position" : [ 2260, 1420 ],
- "size" : [ 480, 140 ],
+ "position" : [ 2200, 1440 ],
+ "size" : [ 980, 147 ],
"sub_architecture" : "f15ca40a-1ed5-416f-8467-d1551bf43797",
"uuid" : "9f0e4a90-79fb-4f15-b769-f539dd6ccc71"
},
@@ -1644,13 +1565,9 @@
{
"direction" : "out",
"name" : "/audio/raw_audio [audio_common_msgs/AudioData]"
- },
- {
- "direction" : "out",
- "name" : "/audio/ego_audio [audio_common_msgs/AudioData]"
}
],
- "position" : [ 1600, 400 ],
+ "position" : [ 700, 700 ],
"size" : [ 400, 120 ],
"sub_architecture" : "b96ac6ba-08a0-4df0-8341-206c356f7c87",
"uuid" : "3e7d7601-34c6-4975-9e36-f50968f141b2"
@@ -1680,56 +1597,44 @@
"name" : "/rear_camera/fisheye/image_raw/compressed"
}
],
- "position" : [ 2200, 3480 ],
- "size" : [ 436, 240 ],
+ "position" : [ 2540, 3600 ],
+ "size" : [ 520, 239 ],
"sub_architecture" : "11554e14-1e5a-41d0-8604-9f0a4365849b",
"uuid" : "57c4f67f-9225-4bdc-9142-f9e92c2cada8"
},
{
"label" : "BIU",
- "name" : "riva_asr_1",
+ "name" : "riva_asr",
"ports" : [
- {
- "direction" : "in",
- "name" : "/h/v/tracked [hri_msgs/IdsList]"
- },
{
"direction" : "out",
- "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
+ "name" : "text"
},
{
"direction" : "in",
- "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
+ "name" : "audio"
}
],
- "position" : [ 4140, 580 ],
- "size" : [ 540, 138 ],
+ "position" : [ 3200, 1060 ],
+ "size" : [ 420, 180 ],
"sub_architecture" : "23b514b9-a56c-461e-9dc0-7da9dd15e0fe",
"uuid" : "3ff4bbe5-0031-4fd1-af28-cd7bd92c0981"
},
- {
- "label" : "UNITN",
- "name" : "DEPENDENCY: wp4_msgs",
- "position" : [ 6880, 3940 ],
- "size" : [ 240, 120 ],
- "sub_architecture" : "af8592a3-f2de-4843-b29d-8868afac79be",
- "uuid" : "b84197a2-d5d2-42d1-942b-27383f14a278"
- },
{
"label" : "HWU",
"name" : "dialogue_speech",
"ports" : [
- {
- "direction" : "out",
- "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
- },
{
"direction" : "in",
"name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
}
],
- "position" : [ 5100, 760 ],
- "size" : [ 440, 180 ],
+ "position" : [ 4300, 580 ],
+ "size" : [ 680, 300 ],
"sub_architecture" : "257fcacc-ff35-430b-b11f-efd376c496ce",
"uuid" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3"
},
@@ -1746,8 +1651,8 @@
"name" : "/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]"
}
],
- "position" : [ 2740, 2640 ],
- "size" : [ 600, 180 ],
+ "position" : [ 3080, 2720 ],
+ "size" : [ 700, 180 ],
"sub_architecture" : "6a63c8f2-ccf1-434f-807e-1c0570ccdbc4",
"uuid" : "49035386-4f22-41d7-a281-71dcc64592bc"
},
@@ -1757,42 +1662,34 @@
"ports" : [
{
"direction" : "out",
- "name" : "/robot_pose [geometry_msgs/PoseWithCovarianceStamped]"
+ "name" : "tf: /odom"
},
{
"direction" : "in",
- "name" : "[call HLoc to perform global localization]"
+ "name" : "torso_front_camera/infra*/*"
},
{
"direction" : "out",
- "name" : "tf: /odom"
+ "name" : "/slam/occupancy_map [OccupancyGrid]"
},
{
"direction" : "in",
- "name" : "torso_front_camera/infra*/*"
+ "name" : "/torso_front_camera/imu"
},
{
"direction" : "out",
- "name" : "/slam/occupancy_map [OccupancyGrid]"
+ "name" : "/robot_pose [geometry_msgs/PoseWithCovarianceStamped]"
},
{
"direction" : "in",
- "name" : "/torso_front_camera/imu"
+ "name" : "[call HLoc to perform global localization]"
}
],
- "position" : [ 2200, 3800 ],
- "size" : [ 436, 231 ],
+ "position" : [ 2540, 3920 ],
+ "size" : [ 520, 193 ],
"sub_architecture" : "046d668f-a787-4753-ab2f-c2b04f922ad0",
"uuid" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe"
},
- {
- "label" : "HWU",
- "name" : "DEPENDENCY: social_scene_msgs",
- "position" : [ 7900, 3940 ],
- "size" : [ 280, 120 ],
- "sub_architecture" : "ed680a03-e715-423d-b567-001b19ca4840",
- "uuid" : "fdf1f034-d96a-4852-bb69-3934073e6708"
- },
{
"label" : "HWU",
"name" : "dialogue_say",
@@ -1810,8 +1707,8 @@
"name" : "/dialogue_say/text [String]"
}
],
- "position" : [ 6600, 1240 ],
- "size" : [ 280, 169 ],
+ "position" : [ 6500, 380 ],
+ "size" : [ 520, 140 ],
"sub_architecture" : "c854e5a0-2dbe-4eee-a79b-723d08083339",
"uuid" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104"
},
@@ -1836,19 +1733,11 @@
"name" : "/audio/is_listening"
}
],
- "position" : [ 7760, 1340 ],
- "size" : [ 440, 220 ],
+ "position" : [ 7380, 660 ],
+ "size" : [ 580, 239 ],
"sub_architecture" : "8a919bc7-c80b-4325-ac63-d04f2fc1d6bb",
"uuid" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d"
},
- {
- "label" : "PAL",
- "name" : "DEPENDENCY: hri_msgs",
- "position" : [ 6280, 3940 ],
- "size" : [ 280, 120 ],
- "sub_architecture" : "7590c224-e846-4f1c-9ecb-0a2992568089",
- "uuid" : "b5076968-861b-43cb-8bd8-35a5fefebfe4"
- },
{
"label" : "INRIA",
"name" : "occupancy_map_republisher",
@@ -1866,8 +1755,8 @@
"name" : "/slam/occupancy_map [OccupancyGrid]"
}
],
- "position" : [ 3780, 3280 ],
- "size" : [ 440, 138 ],
+ "position" : [ 4120, 3400 ],
+ "size" : [ 740, 147 ],
"uuid" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44"
},
{
@@ -1879,7 +1768,7 @@
"name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
}
],
- "position" : [ 40, 2120 ],
+ "position" : [ 380, 2240 ],
"size" : [ 432, 120 ],
"sub_architecture" : "9acdd8b9-4805-4239-aec0-8db4d0977e64",
"uuid" : "409d9526-77ed-4ee3-bae9-ab48381e0b28"
@@ -1897,8 +1786,8 @@
"name" : "/kb/add_fact [std_msgs/String]"
}
],
- "position" : [ 4580, 1920 ],
- "size" : [ 240, 240 ],
+ "position" : [ 5240, 2220 ],
+ "size" : [ 340, 140 ],
"sub_architecture" : "bfea9558-3b6a-44a6-a8ae-75c1e679ff48",
"uuid" : "8dc55dfc-0215-44a1-9795-9255c328b198"
},
@@ -1915,27 +1804,11 @@
"name" : "service: /kb/query"
}
],
- "position" : [ 4880, 1920 ],
- "size" : [ 360, 240 ],
+ "position" : [ 5540, 2000 ],
+ "size" : [ 740, 160 ],
"sub_architecture" : "15ec41b7-dcd6-4504-88c5-5eb6b80899f2",
"uuid" : "5a0113b6-a999-4339-8e21-44f3b8b3d693"
},
- {
- "label" : "PAL",
- "name" : "DEPENDENCY: spring_msgs",
- "position" : [ 6600, 3940 ],
- "size" : [ 240, 120 ],
- "sub_architecture" : "754b3165-805d-469a-b604-4dfef5453911",
- "uuid" : "2e89a11f-a4b0-4b5e-8d72-975d8c47c7f7"
- },
- {
- "label" : "HWU",
- "name" : "DEPENDENCY: interaction_manager_msgs",
- "position" : [ 7180, 3940 ],
- "size" : [ 340, 120 ],
- "sub_architecture" : "269a1164-ad2d-488c-9b86-b4256faddf9f",
- "uuid" : "e4ad4076-7fa2-496d-b8ce-0d2c43eca484"
- },
{
"label" : "INRIA",
"name" : "behavior_generator",
@@ -1956,10 +1829,6 @@
"direction" : "out",
"name" : "/controller_status"
},
- {
- "direction" : "out",
- "name" : "/head_controller/command [JointTrajectory]"
- },
{
"direction" : "in",
"name" : "tf: /body_*"
@@ -1999,10 +1868,14 @@
{
"direction" : "in",
"name" : "tf: /group_*"
+ },
+ {
+ "direction" : "out",
+ "name" : "/head_controller/command [JointTrajectory]"
}
],
- "position" : [ 7720, 2300 ],
- "size" : [ 580, 520 ],
+ "position" : [ 9000, 1360 ],
+ "size" : [ 580, 1120 ],
"sub_architecture" : "d5ec9783-4c4f-4652-a8bd-b786a1905f48",
"uuid" : "328fd73c-ead7-4b87-a815-401958fa77a2"
},
@@ -2015,7 +1888,7 @@
"name" : "/head_front_camera/color/image_raw [sensor_msgs/Image]"
}
],
- "position" : [ 40, 2260 ],
+ "position" : [ 380, 2380 ],
"size" : [ 430, 120 ],
"sub_architecture" : "cf447604-0976-4fc3-ad4e-a135fa8ba454",
"uuid" : "a284bd3a-0273-4d81-89ce-bc8d042b2674"
@@ -2045,26 +1918,26 @@
"name" : "/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
}
],
- "position" : [ 1360, 1600 ],
- "size" : [ 680, 200 ],
+ "position" : [ 1440, 1740 ],
+ "size" : [ 700, 184 ],
"sub_architecture" : "d0367ed7-2b45-4244-9507-538e7767127f",
"uuid" : "d609252f-2fd4-4439-86c3-ece9fd387a3a"
},
{
"label" : "BIU",
- "name" : "audio_processing_mode",
+ "name" : "single_speaker_noise_reduction",
"ports" : [
{
- "direction" : "out",
- "name" : "/audio/enh_audio [spring_msgs/RawAudioData]"
+ "direction" : "in",
+ "name" : "/audio/raw_audio "
},
{
- "direction" : "in",
- "name" : "/audio/raw_audio [spring_msgs/RawAudioData]"
+ "direction" : "out",
+ "name" : "/audio/enh_audio [spring_msgs/RawAudioData]"
}
],
- "position" : [ 2380, 20 ],
- "size" : [ 580, 260 ],
+ "position" : [ 1420, 280 ],
+ "size" : [ 960, 240 ],
"sub_architecture" : "703291ee-d2c9-4f3c-a94c-fb6030dd783e",
"uuid" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3"
},
@@ -2073,64 +1946,64 @@
"name" : "interaction_manager",
"ports" : [
{
- "direction" : "in",
- "name" : "/interaction_manager/update [service]"
+ "direction" : "out",
+ "name" : "/task*_ros_server_action [action]"
},
{
"direction" : "in",
- "name" : "/interaction_manager/query [service]"
+ "name" : "TF"
},
{
"direction" : "out",
- "name" : "/task*_ros_server_action [action]"
+ "name" : "/dialogue_start"
},
{
"direction" : "in",
- "name" : "TF"
+ "name" : "/dialogue_nlp/nlu [JSON String]"
},
{
- "direction" : "in",
- "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
+ "direction" : "out",
+ "name" : "/navigation goals"
},
{
"direction" : "out",
- "name" : "/dialogue_start"
+ "name" : "/look_at goals"
},
{
"direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
+ "name" : "/interaction_manager/update [service]"
},
{
"direction" : "in",
- "name" : "/dialogue_nlp/nlu [JSON String]"
+ "name" : "/interaction_manager/query [service]"
},
{
"direction" : "out",
- "name" : "/navigation goals"
+ "name" : "gestures"
},
{
"direction" : "in",
- "name" : "semantic scene description [ON HOLD]"
+ "name" : "input"
},
{
- "direction" : "out",
- "name" : "/look_at goals"
+ "direction" : "in",
+ "name" : "/register_server [service]"
},
{
- "direction" : "out",
- "name" : "gestures"
+ "direction" : "in",
+ "name" : "/controller_status [ControllerStatus]"
},
{
"direction" : "in",
- "name" : "input"
+ "name" : "semantic scene description [ON HOLD]"
},
{
"direction" : "in",
- "name" : "/register_server [service]"
+ "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
}
],
- "position" : [ 6020, 2120 ],
- "size" : [ 400, 760 ],
+ "position" : [ 6720, 1600 ],
+ "size" : [ 1140, 600 ],
"sub_architecture" : "b87a23ac-d223-4bac-b438-0b16e6e55270",
"uuid" : "bc526a14-c5aa-466e-ba5b-30a78b14d672"
},
@@ -2147,38 +2020,38 @@
"name" : "/dialogue_nlp/nlu [JSON String]"
}
],
- "position" : [ 6600, 1480 ],
- "size" : [ 280, 120 ],
+ "position" : [ 6500, 540 ],
+ "size" : [ 520, 120 ],
"sub_architecture" : "f8c8f093-a1b2-4115-8526-089374b7c119",
"uuid" : "f845ee2c-4cb3-4cae-bde9-8ac2ba692ee7"
},
{
- "label" : "BIU",
- "name" : "MOCK: Voice-body matching",
+ "label" : "INRIA",
+ "name" : "voice_body_matching",
"ports" : [
{
"direction" : "in",
- "name" : "tf: /body_*"
+ "name" : "/humans/voices/tracked"
},
{
"direction" : "in",
- "name" : "tf: /voice_*"
+ "name" : "tf: /body_*"
},
{
"direction" : "in",
- "name" : "/humans/bodies/tracked"
+ "name" : "tf: /voice_*"
},
{
"direction" : "in",
- "name" : "/humans/voices/tracked"
+ "name" : "/humans/bodies/tracked"
},
{
"direction" : "out",
"name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
}
],
- "position" : [ 4140, 860 ],
- "size" : [ 498, 200 ],
+ "position" : [ 3840, 1240 ],
+ "size" : [ 740, 240 ],
"sub_architecture" : "c5fafc14-fe29-4632-be64-aa233e6c72ee",
"uuid" : "172516ca-a279-42a7-b515-ba2257887296"
},
@@ -2199,70 +2072,34 @@
"name" : "/controller_status [ControllerStatus]"
}
],
- "position" : [ 7100, 2500 ],
- "size" : [ 271, 138 ],
+ "position" : [ 8080, 1840 ],
+ "size" : [ 780, 147 ],
"sub_architecture" : "cc6bb1c2-c450-4e00-b0d8-b0f0d2048e04",
"uuid" : "b2cf0310-792d-4753-9e3d-243de1c81bbe"
},
{
"label" : "BIU",
- "name" : "speakers_id",
+ "name" : "speakers_id_and_DOA",
"ports" : [
- {
- "direction" : "out",
- "name" : "/h/v/tracked [hri_msgs/IdsList]"
- },
- {
- "direction" : "out",
- "name" : "/audio/is_listening"
- },
- {
- "direction" : "in",
- "name" : "/humans/voices/speaker1/stream [audio_common_msgs/AudioData]"
- },
- {
- "direction" : "out",
- "name" : "/audio/vad"
- },
- {
- "direction" : "out",
- "name" : "tf: /voice_*"
- },
- {
- "direction" : "in",
- "name" : "/humans/voices/speaker1/doa [std_msgs/Float32]"
- },
- {
- "direction" : "out",
- "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
- },
{
"direction" : "in",
- "name" : "/humans/voices/speaker2/doa [std_msgs/Float32]"
+ "name" : "/audio/voice_stream*"
},
{
"direction" : "in",
- "name" : "/audio/ego_audio [audio_common_msgs/AudioData]"
+ "name" : "count_active_speakers"
},
{
"direction" : "out",
- "name" : "/h/v/known [hri_msgs/IdsList]"
- },
- {
- "direction" : "out",
- "name" : "/h/v/*/is_speaking [std_msgs/Bool]"
- },
- {
- "direction" : "in",
- "name" : "/humans/voices/speaker2/stream [audio_common_msgs/AudioData]"
+ "name" : "/h/v/*/doa [std_msgs/Float32]"
},
{
"direction" : "out",
- "name" : "/h/v/*/doa [std_msgs/Float32]"
+ "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
}
],
- "position" : [ 3060, 320 ],
- "size" : [ 760, 448 ],
+ "position" : [ 2520, 580 ],
+ "size" : [ 600, 440 ],
"sub_architecture" : "77ebd1d1-7f1e-47b7-8a26-4328c95c817a",
"uuid" : "23a0d365-d60b-45d7-b229-a04bed5e41bb"
},
@@ -2270,6 +2107,10 @@
"label" : "INRIA",
"name" : "basestation_republisher",
"ports" : [
+ {
+ "direction" : "out",
+ "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
+ },
{
"direction" : "in",
"name" : "/torso_front_camera/aligned_depth_to_color/image_raw/theora"
@@ -2278,10 +2119,6 @@
"direction" : "in",
"name" : "/front_camera/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]"
},
- {
- "direction" : "out",
- "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
- },
{
"direction" : "out",
"name" : "/*_basestation/fisheye/... [sensor_msgs/Image]"
@@ -2295,8 +2132,8 @@
"name" : "/head_front_camera/color/image_raw/compressed"
}
],
- "position" : [ 700, 2200 ],
- "size" : [ 580, 260 ],
+ "position" : [ 1040, 2320 ],
+ "size" : [ 600, 240 ],
"sub_architecture" : "4b6bafeb-e303-4f6b-a7db-cfa8b1fc5a23",
"uuid" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3"
},
@@ -2309,8 +2146,8 @@
"name" : "/RPN [action server]"
}
],
- "position" : [ 6600, 1660 ],
- "size" : [ 280, 120 ],
+ "position" : [ 6500, 920 ],
+ "size" : [ 520, 120 ],
"sub_architecture" : "d08a0f04-1e8d-4aa1-b71a-b3bf4597d4e2",
"uuid" : "ed36231e-fb0f-45d5-8770-6f8c613f8ca4"
},
@@ -2324,15 +2161,15 @@
},
{
"direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
+ "name" : "goal"
},
{
"direction" : "in",
- "name" : "goal"
+ "name" : "/controller_status [ControllerStatus]"
}
],
- "position" : [ 7100, 2020 ],
- "size" : [ 271, 138 ],
+ "position" : [ 8080, 1360 ],
+ "size" : [ 780, 147 ],
"sub_architecture" : "90d17edc-f200-49f6-adad-5100466d6703",
"uuid" : "c0155b17-15f4-4d86-909b-433fe737cb5f"
},
@@ -2353,8 +2190,8 @@
"name" : "/controller_status [ControllerStatus]"
}
],
- "position" : [ 7100, 2340 ],
- "size" : [ 271, 138 ],
+ "position" : [ 8080, 1680 ],
+ "size" : [ 780, 147 ],
"sub_architecture" : "8877ac09-dcf3-4f4b-9462-d7948759a3a3",
"uuid" : "bf22a99b-3b6f-416c-b967-8b4df877a72e"
},
@@ -2363,28 +2200,28 @@
"name" : "soft_biometrics_estimator",
"ports" : [
{
- "direction" : "in",
- "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
+ "direction" : "out",
+ "name" : "/humans/candidate_matches [hri_msgs/IdsMatch] [face reco]"
},
{
"direction" : "in",
- "name" : "/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
+ "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
},
{
- "direction" : "out",
- "name" : "/humans/candidate_matches [hri_msgs/IdsMatch] [face reco]"
+ "direction" : "in",
+ "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
},
{
"direction" : "in",
- "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
+ "name" : "/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
},
{
"direction" : "out",
"name" : "/h/f/*/softbiometrics [hri_msgs/SoftBiometrics]"
}
],
- "position" : [ 2740, 2240 ],
- "size" : [ 601, 200 ],
+ "position" : [ 3080, 2360 ],
+ "size" : [ 700, 200 ],
"sub_architecture" : "970d1105-d292-4308-b90f-8d8005a781eb",
"uuid" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e"
},
@@ -2394,27 +2231,15 @@
"ports" : [
{
"direction" : "out",
- "name" : "/audio/speaker1/doa [std_msgs/Float32]"
- },
- {
- "direction" : "out",
- "name" : "/audio/speaker2/doa [std_msgs/Float32]"
- },
- {
- "direction" : "out",
- "name" : "/audio/speaker2/stream [audio_common_msgs/AudioData]"
+ "name" : "streams"
},
{
"direction" : "in",
- "name" : "/audio/raw_audio [audio_common_msgs/AudioData]"
- },
- {
- "direction" : "out",
- "name" : "/audio/speaker1/stream [audio_common_msgs/AudioData]"
+ "name" : "/audio/raw_audio"
}
],
- "position" : [ 2380, 320 ],
- "size" : [ 600, 440 ],
+ "position" : [ 1420, 580 ],
+ "size" : [ 500, 280 ],
"sub_architecture" : "ded25e98-4132-4678-bef7-5d0945fdaf78",
"uuid" : "63835655-4d0a-4d5a-9849-365826ee7738"
},
@@ -2424,7 +2249,7 @@
"ports" : [
{
"direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
+ "name" : "goal"
},
{
"direction" : "out",
@@ -2432,11 +2257,11 @@
},
{
"direction" : "in",
- "name" : "goal"
+ "name" : "/controller_status [ControllerStatus]"
}
],
- "position" : [ 7100, 2660 ],
- "size" : [ 271, 138 ],
+ "position" : [ 8080, 2000 ],
+ "size" : [ 780, 147 ],
"sub_architecture" : "ba99bc77-6bde-403a-97f5-223132fb109a",
"uuid" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6"
},
@@ -2454,15 +2279,15 @@
},
{
"direction" : "in",
- "name" : "/h/f/*/roi [sensor_msgs/RegionOfInterest]"
+ "name" : "/depth_estimation [sensor_msgs/Image]"
},
{
"direction" : "in",
- "name" : "/depth_estimation [sensor_msgs/Image]"
+ "name" : "/h/f/*/roi [sensor_msgs/RegionOfInterest]"
}
],
- "position" : [ 2740, 3000 ],
- "size" : [ 600, 169 ],
+ "position" : [ 3080, 3120 ],
+ "size" : [ 700, 193 ],
"sub_architecture" : "2acb3f97-e06f-4e94-a48f-a3e140ad55fb",
"uuid" : "4fbd8427-4d9f-4087-9a30-e7df1c1f69e7"
},
@@ -2470,10 +2295,6 @@
"label" : "INRIA",
"name" : "body_3d_tracker",
"ports" : [
- {
- "direction" : "in",
- "name" : "/front_camera/fisheye/image_raw [sensor_msgs/Image]"
- },
{
"direction" : "out",
"name" : "tf: /body_*"
@@ -2482,6 +2303,10 @@
"direction" : "in",
"name" : "/h/b/*/skeleton2d [hri_msg/Skeleton2D]"
},
+ {
+ "direction" : "in",
+ "name" : "/front_camera/fisheye/image_raw [sensor_msgs/Image]"
+ },
{
"direction" : "in",
"name" : "/tracker/tracker_output [std_msgs/String]"
@@ -2491,14 +2316,31 @@
"name" : "/humans/bodies/tracked [hri_msgs/IdsList]"
}
],
- "position" : [ 2860, 1660 ],
+ "position" : [ 3220, 1620 ],
"size" : [ 460, 200 ],
"sub_architecture" : "f6ab2c5c-5c73-439c-9342-fb1bbb24b1da",
"uuid" : "c9b76975-8236-4440-8693-6756fef3990b"
+ },
+ {
+ "label" : "BIU",
+ "name" : "CSD",
+ "ports" : [
+ {
+ "direction" : "in",
+ "name" : "/audio/raw_audio"
+ },
+ {
+ "direction" : "out",
+ "name" : "count_active_speakers"
+ }
+ ],
+ "position" : [ 1420, 900 ],
+ "size" : [ 1060, 120 ],
+ "uuid" : "fdc2f6fa-4c2c-44ae-9753-d422212a099b"
}
],
"uuid" : "234f40f3-f9bb-4d69-8121-aec26ac8c228",
- "version" : "2.0.0"
+ "version" : "2.1.0"
}
],
"root" : "234f40f3-f9bb-4d69-8121-aec26ac8c228"