diff --git a/README.md b/README.md
index 54c1abef461a9c25ae64b3638dc4223ab8ca56d9..592993264a64d8812769b4d20750308b82abc741 100644
--- a/README.md
+++ b/README.md
@@ -3,7 +3,7 @@
This repository contains high-level documentation of the H2020 SPRING
architecture, as well as mock ROS nodes for all the architecture modules.
-
+
You can view a textual version of the architecture here:
[spring-architecture.md](spring-architecture.md).
diff --git a/architecture.json b/architecture.json
index 648b8c820cb079d99f911d1a30d8a55ccd4fc154..d83d2d67612b6b6d13d5f7b48451c1471276f8e1 100644
--- a/architecture.json
+++ b/architecture.json
@@ -1,40 +1,52 @@
{
"architectures" : [
{
- "description" : "REPO: https://gitlab.inria.fr/spring/wp5_spoken_conversations/interaction/-/tree/spring_dev/interaction_manager",
- "name" : "MOCK: Interaction manager",
- "uuid" : "b87a23ac-d223-4bac-b438-0b16e6e55270",
- "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",
+ "uuid" : "d5ec9783-4c4f-4652-a8bd-b786a1905f48",
+ "version" : "devel"
},
{
- "description" : "REPO: git@gitlab:ros4hri/hri_msgs.git\nNOT EXECUTABLE",
- "name" : "DEPENDENCY: hri_msgs",
- "uuid" : "7590c224-e846-4f1c-9ecb-0a2992568089",
- "version" : "0.1.1"
+ "description" : "Detects age/gender\nREPO:git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git\nSUBFOLDER:wp4_people_characteristics\nBIN:soft_biometrics_estimator.py",
+ "name" : "Soft biometrics",
+ "uuid" : "970d1105-d292-4308-b90f-8d8005a781eb",
+ "version" : "master"
},
{
- "description" : "REPO: https://gitlab.inria.fr/spring/wp5_spoken_conversations/dialogue/-/tree/spring-dev/dialogue_arbiter",
- "name" : "MOCK: dialogue arbiter",
- "uuid" : "e2ee44b3-4f04-4a27-a947-525fae05035d",
+ "description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/asr.git\nSUBFOLDER:audio_msgs\nNOT EXECUTABLE",
+ "name" : "DEPENDENCY: audio_msgs",
+ "uuid" : "88aec3fc-6d19-455e-96fc-303c6aaab831",
"version" : "spring_dev"
},
{
- "description" : "REPO: https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior/-/tree/devel/src/robot_behavior\n\nThe code is primarily developed at INRIA by Timothée Wintz.",
- "name" : "MOCK: robot_behavior",
- "uuid" : "d5ec9783-4c4f-4652-a8bd-b786a1905f48",
- "version" : "devel"
+ "description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git\nSUBFOLDER:social_scene_msgs\nNOT EXECUTABLE",
+ "name" : "DEPENDENCY: social_scene_msgs",
+ "uuid" : "ed680a03-e715-423d-b567-001b19ca4840",
+ "version" : "spring_dev"
},
{
- "description" : "REPO:git@gitlab.inria.fr:spring/wp7_ari/respeaker_ros.git\nBIN:respeaker_multichan_node.py",
- "name" : "respeaker_ros",
- "uuid" : "b96ac6ba-08a0-4df0-8341-206c356f7c87",
+ "description" : "REPO:git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git\nSUBFOLDER:wp4_msgs\nNOT EXECUTABLE",
+ "name" : "DEPENDENCY: wp4_msgs",
+ "uuid" : "af8592a3-f2de-4843-b29d-8868afac79be",
"version" : "master"
},
{
- "description" : "This node does:\n- speech echo cancelation,\n- speech enhancement,\n- speech separation and diarization\nREPO:https://gitlab.inria.fr/spring/wp5_spoken_conversations/asr\nSUBFOLDER:audio_processing ",
- "name" : "audio_processing",
- "uuid" : "703291ee-d2c9-4f3c-a94c-fb6030dd783e",
- "version" : "BIU_dev"
+ "description" : "MOCK: People 3D tracker [position/orientation] is...",
+ "name" : "MOCK: People 3D tracker [position/orientation]",
+ "uuid" : "6b0cec9a-b148-4d1d-b038-2986a289b7e6",
+ "version" : "0.0.1"
+ },
+ {
+ "description" : "Detects presence of a facial mask\nREPO:git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git\nSUBFOLDER:wp4_people_characteristics\nBIN:mask_detector.py",
+ "name" : "Mask detection",
+ "uuid" : "b343b3de-f4eb-412c-ae93-fca0f090ee5d",
+ "version" : "master"
+ },
+ {
+ "description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git\nSUBFOLDER:dialogue_arbiter",
+ "name" : "dialogue arbiter",
+ "uuid" : "e2ee44b3-4f04-4a27-a947-525fae05035d",
+ "version" : "spring_dev"
},
{
"description" : "- online services\n- not started yet",
@@ -43,17 +55,11 @@
"version" : "0.0.1"
},
{
- "description" : "REPO: https://gitlab.inria.fr/spring/wp5_spoken_conversations/plan_actions",
- "name" : "MOCK: plan_actions",
- "uuid" : "9ff15583-a3c7-439b-a578-91ea4afac364",
+ "description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git\nSUBFOLDER:robot_behaviour_msgs\nNOT EXECUTABLE",
+ "name" : "DEPENDENCY: robot_behaviour_msgs",
+ "uuid" : "9d93f431-05b6-4ee4-88ea-8bb60a01611f",
"version" : "spring_dev"
},
- {
- "description" : "MOCK: Body 2D pose [openpose] is...",
- "name" : "MOCK: Body 2D pose [openpose]",
- "uuid" : "e496dc05-fbf4-467f-95cf-d8548eefe677",
- "version" : "0.0.1"
- },
{
"description" : "REPO:https://gitlab.inria.fr/spring/wp5_spoken_conversations/asr\nSUBFOLDER:google_asr/google_asr",
"name" : "google_asr",
@@ -61,132 +67,174 @@
"version" : "BIU_dev"
},
{
- "description" : "PAL to write an initial temporary version, simply forwarding detected faces as persons.",
- "name" : "MOCK: Person manager",
- "uuid" : "1f5e18f3-1be0-4e21-a3e1-439a597fe002",
- "version" : "0.0.1"
+ "description" : "REPO:git@gitlab.inria.fr:spring/wp7_ari/respeaker_ros.git BIN:respeaker_multichan_node.py",
+ "name" : "respeaker_ros",
+ "uuid" : "b96ac6ba-08a0-4df0-8341-206c356f7c87",
+ "version" : "master"
},
{
- "description" : "REPO:git@gitlab.inria.fr:spring/wp7_ari/spring_msgs.git\nNOT EXECUTABLE",
+ "description" : "REPO:git@gitlab.inria.fr:spring/wp7_ari/spring_msgs.git NOT EXECUTABLE",
"name" : "DEPENDENCY: spring_msgs",
"uuid" : "754b3165-805d-469a-b604-4dfef5453911",
"version" : "0.0.2"
},
{
- "description" : "REPO (Docker): https://gitlab.inria.fr/spring/wp3_av_perception/docker-tracking\n\nThis code is primarily developed at INRIA by Luis Gomez Camara.",
- "name" : "MOCK: Multi-people body tracker",
+ "description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git\nSUBFOLDER:interaction_manager",
+ "name" : "Interaction manager",
+ "uuid" : "b87a23ac-d223-4bac-b438-0b16e6e55270",
+ "version" : "spring_dev"
+ },
+ {
+ "description" : "This node does:\n- speech echo cancelation,\n- speech enhancement,\n- speech separation and diarization\nREPO:https://gitlab.inria.fr/spring/wp5_spoken_conversations/asr SUBFOLDER:audio_processing ",
+ "name" : "audio_processing",
+ "uuid" : "703291ee-d2c9-4f3c-a94c-fb6030dd783e",
+ "version" : "BIU_dev"
+ },
+ {
+ "description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git\nSUBFOLDER:robot_behaviour_plan_actions",
+ "name" : "robot_behaviour_plan_actions",
+ "uuid" : "9ff15583-a3c7-439b-a578-91ea4afac364",
+ "version" : "spring_dev"
+ },
+ {
+ "description" : "This code is primarily developed at INRIA by Luis Gomez Camara.\nREPO: https://gitlab.inria.fr/spring/wp3_av_perception/docker-tracking\nSUBFOLDER:FairMOT",
+ "name" : "FairMOT Multi-people body tracker",
"uuid" : "d0367ed7-2b45-4244-9507-538e7767127f",
"version" : "devel"
},
+ {
+ "description" : "REPO: git@gitlab:ros4hri/hri_msgs.git\nNOT EXECUTABLE",
+ "name" : "DEPENDENCY: hri_msgs",
+ "uuid" : "7590c224-e846-4f1c-9ecb-0a2992568089",
+ "version" : "0.1.1"
+ },
+ {
+ "description" : "MOCK: Body 2D pose [openpose] is...",
+ "name" : "MOCK: Body 2D pose [openpose]",
+ "uuid" : "e496dc05-fbf4-467f-95cf-d8548eefe677",
+ "version" : "0.0.1"
+ },
+ {
+ "description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git\nSUBFOLDER:social_scene_context_understanding",
+ "name" : "social_scene_context_understanding",
+ "uuid" : "05421051-4c03-42de-8bbb-0d0965e14f68",
+ "version" : "spring_dev"
+ },
+ {
+ "description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git\nSUBFOLDER:interaction_manager_msgs\nNOT EXECUTABLE",
+ "name" : "DEPENDENCY: interaction_manager_msgs",
+ "uuid" : "269a1164-ad2d-488c-9b86-b4256faddf9f",
+ "version" : "spring_dev"
+ },
+ {
+ "description" : "PAL to write an initial temporary version, simply forwarding detected faces as persons.",
+ "name" : "MOCK: Person manager",
+ "uuid" : "1f5e18f3-1be0-4e21-a3e1-439a597fe002",
+ "version" : "0.0.1"
+ },
{
"connections" : [
{
- "from" : "1e291716-8134-4fd0-8bfa-0d910d026fec:dense 3d map",
- "name" : "anonymous",
- "to" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:dense 3d map",
- "uuid" : "42b5f41f-7a83-4ed2-88c5-c23ed58b6742"
- },
- {
- "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/camera_head/color/image_raw [sensor_msgs/Image]",
+ "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/audio/postprocess_audio_streams [audio_common_msgs/AudioData]",
"name" : "anonymous",
- "to" : "633be9cd-9f1b-4cdd-b708-a1edd3742842:input",
- "uuid" : "3468cd8a-4c44-424a-977e-3d431e2f62bd"
+ "to" : "b70f5085-b32c-47de-b158-73fc4d83fb93:/audio/postprocess_audio_streams [audio_common_msgs/AudioData]",
+ "uuid" : "33421a71-54bc-484c-8110-48814a68a15b"
},
{
- "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:/h/f/*/roi [hri_msgs/RegionOfInterestStamped]",
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:who to look at",
"name" : "anonymous",
- "to" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/h/f/*/roi [hri_msgs/RegionOfInterestStamped]",
- "uuid" : "cc656080-5976-492e-87d3-2c9e177aaf40"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:look at",
+ "uuid" : "24403468-2363-4349-b05e-8800f239e890"
},
{
- "from" : "35d5af59-53e3-466c-874d-89131352c403:interaction state",
+ "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/h/b/*/roi [hri_msgs/RegionOfInterest",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:robot state",
- "uuid" : "0a79dcb8-dd0c-44de-ab5a-69905131ab0e"
+ "to" : "c9c1df26-7274-4765-8772-b06e15f87c3c:/h/b/*/roi [hri_msgs/RegionOfInterest]",
+ "uuid" : "d51f420e-8f96-498d-a29c-8f194644da16"
},
{
- "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:/h/f/*/roi [hri_msgs/RegionOfInterestStamped]",
+ "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/humans/persons/*/body_id [std_msgs/String]",
"name" : "anonymous",
- "to" : "e9861836-caed-4c19-87e2-13ba1a380613:/h/f/*/roi [hri_msgs/RegionOfInterestStamped]",
- "uuid" : "a2a69657-28ce-4f09-96d3-d68d1f73dced"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/h/p/*/softbiometrics [hri_msgs/Softbiometrics]",
+ "uuid" : "9c3a70db-3bc2-46bb-9af3-2402bf296ceb"
},
{
- "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/raw_audio [respeaker_ros/RawAudioData]",
+ "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/h/b/*/roi [hri_msgs/RegionOfInterest",
"name" : "anonymous",
- "to" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/audio/raw_audio [respeaker_ros/RawAudioData]",
- "uuid" : "725d3768-1e9d-4591-8590-c2ad18a22db6"
+ "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:candidate_matches [hri_msgs/IdsMatch]",
+ "uuid" : "5c32d0f0-6f03-4866-8fea-f333ec994fc6"
},
{
- "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:/h/f/*/roi [hri_msgs/RegionOfInterestStamped]",
+ "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/*/softbiometrics [hri_msgs/Softbiometrics]",
"name" : "anonymous",
- "to" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a:/h/f/*/roi [hri_msgs/RegionOfInterestStamped]",
- "uuid" : "30e6e7f9-cf27-4ae4-b695-058b48809f98"
+ "to" : "35d5af59-53e3-466c-874d-89131352c403:/h/p/*/softbiometrics [hri_msgs/Softbiometrics]",
+ "uuid" : "d9a30f98-b288-47c2-8914-e309151d6597"
},
{
- "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/raw_audio [respeaker_ros/RawAudioData]",
+ "from" : "b357b248-d5a8-445d-9c09-5c567d074966:/detected_objects [spring_msgs/DetectedObjectArray]",
"name" : "anonymous",
- "to" : "48ed53a1-16b6-42b8-9c8f-6df5dce5b604:/h/v/*/audio [audio_common_msgs/AudioData]",
- "uuid" : "5f69bd9a-9dce-473c-88c3-03e564d7c021"
+ "to" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:/detected_objects [spring_msgs/DetectedObjectArray]",
+ "uuid" : "7c0fa9d2-5c6c-402b-bc90-78d2f32807e5"
},
{
- "from" : "35d5af59-53e3-466c-874d-89131352c403:interaction state",
+ "from" : "b70f5085-b32c-47de-b158-73fc4d83fb93:person_id_candidate [hri_msgs/IdsMatch]",
"name" : "anonymous",
- "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:interaction messages",
- "uuid" : "ed16d30f-ff2e-4f62-b96d-ba128166c0f6"
+ "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:candidate_matches [hri_msgs/IdsMatch]",
+ "uuid" : "bd9d1c95-32d1-4be0-b858-5bd71b12fdd8"
},
{
- "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/camera_head/color/image_raw [sensor_msgs/Image]",
+ "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/head_front_camera/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "1e291716-8134-4fd0-8bfa-0d910d026fec:/camera_head/color/image_head [sensor_msgs/Image]",
- "uuid" : "f02baefa-2160-49be-ada0-6cf0e843447f"
+ "to" : "633be9cd-9f1b-4cdd-b708-a1edd3742842:input",
+ "uuid" : "3468cd8a-4c44-424a-977e-3d431e2f62bd"
},
{
- "from" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:/tts/feedback",
+ "from" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:x,y + attention heatmap",
"name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/tts/feedback",
- "uuid" : "d18bf8c0-9a5e-478d-9d8a-a6ebc5ac0188"
+ "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:attention",
+ "uuid" : "c38977a5-ea01-41e3-b161-164b84e18fa8"
},
{
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:DialogueState",
+ "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:low-level actions",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:dialogue state",
- "uuid" : "edb67b60-5748-4e4f-bc1c-66f386b4a870"
+ "to" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:input",
+ "uuid" : "76376fcb-a31a-40db-9220-1fef7cf68fc8"
},
{
- "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/ego_audio [audio_common_msgs/AudioData]",
+ "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:next utterance",
"name" : "anonymous",
- "to" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/audio/ego_audio [audio_common_msgs/AudioData]",
- "uuid" : "b89143e5-d894-4b4c-951b-c573ecd718c4"
+ "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:speech output",
+ "uuid" : "426656f1-0bfe-4b24-b55c-f1fbe35d0f24"
},
{
- "from" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:tf: /face_id_gaze",
+ "from" : "b62de7f5-7899-48fd-a64d-3226e68bb21f:/map_refined [nav_msgs/OccupancyGrid]",
"name" : "anonymous",
- "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:gaze direction",
- "uuid" : "0de8cacd-26a8-4d65-b9d1-266658e3c74c"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:occupancy map",
+ "uuid" : "fd48565b-cdbc-4fcd-a5fd-f3983311a074"
},
{
- "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/h/b/*/roi [hri_msgs/RegionOfInterestStamped]",
+ "from" : "633be9cd-9f1b-4cdd-b708-a1edd3742842:depth",
"name" : "anonymous",
- "to" : "c9c1df26-7274-4765-8772-b06e15f87c3c:/h/b/*/roi [hri_msgs/RegionOfInterestStamped]",
- "uuid" : "d51f420e-8f96-498d-a29c-8f194644da16"
+ "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:depth",
+ "uuid" : "01e249b4-2c34-4be3-9f05-ccb2ddacb8a0"
},
{
- "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/humans/persons/*/body_id [std_msgs/String]",
+ "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:/h/f/*/roi [hri_msgs/RegionOfInterest]",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/h/p/personID",
- "uuid" : "9c3a70db-3bc2-46bb-9af3-2402bf296ceb"
+ "to" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:/h/f/*/roi [hri_msgs/RegionOfInterest]",
+ "uuid" : "477e0004-b15d-46b9-b6a0-80c8963b36c0"
},
{
- "from" : "409d9526-77ed-4ee3-bae9-ab48381e0b28:/camera_head/color/image_raw [sensor_msgs/Image]",
+ "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:/h/f/*/roi [hri_msgs/RegionOfInterest]",
"name" : "anonymous",
- "to" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/camera_head/color/image_raw [sensor_msgs/Image]",
- "uuid" : "0df69792-572a-41d2-ac85-593277dfc65b"
+ "to" : "e9861836-caed-4c19-87e2-13ba1a380613:/h/f/*/roi [hri_msgs/RegionOfInterest]",
+ "uuid" : "a2a69657-28ce-4f09-96d3-d68d1f73dced"
},
{
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:next utterance",
+ "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/raw_audio [respeaker_ros/RawAudioData]",
"name" : "anonymous",
- "to" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:speech [std_msgs/String]",
- "uuid" : "9d1fa155-b8c9-464f-a6b0-7a5b435833cd"
+ "to" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/audio/raw_audio [respeaker_ros/RawAudioData]",
+ "uuid" : "725d3768-1e9d-4591-8590-c2ad18a22db6"
},
{
"from" : "1e291716-8134-4fd0-8bfa-0d910d026fec:dense 3d map",
@@ -195,82 +243,82 @@
"uuid" : "24a4329e-5669-4cd5-bc57-08fbb0c1f859"
},
{
- "from" : "b357b248-d5a8-445d-9c09-5c567d074966:/detected_objects [spring_msgs/DetectedObjectArray]",
+ "from" : "b70f5085-b32c-47de-b158-73fc4d83fb93:/h/v/*/audio [audio_common_msgs/AudioData]",
"name" : "anonymous",
- "to" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:/detected_objects [spring_msgs/DetectedObjectArray]",
- "uuid" : "7c0fa9d2-5c6c-402b-bc90-78d2f32807e5"
+ "to" : "fb3919be-ce33-4bf7-96c5-7a084bc5f115:/audio/speech_streams [std_msgs/String]",
+ "uuid" : "e3df6f6f-c81c-491e-941c-7267619d59a3"
},
{
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:who to look at",
+ "from" : "49998d33-7c64-4557-b1c9-56b241b59600:/audio/speech_streams -- array of hri_msgs/LiveSpeech",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:look at",
- "uuid" : "24403468-2363-4349-b05e-8800f239e890"
+ "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/h/v/*/speech [hri_msgs/LiveSpeech]",
+ "uuid" : "db3221a7-783a-4ffb-9ca2-8d074e9706fd"
},
{
- "from" : "48ed53a1-16b6-42b8-9c8f-6df5dce5b604:tracking information",
- "name" : "anonymous",
- "to" : "b70f5085-b32c-47de-b158-73fc4d83fb93:tracking information",
- "uuid" : "5d8dea3e-22bb-4008-9687-f6af563f1a56"
+ "from" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/h/f/*/softbiometrics [hri_msgs/Softbiometrics]",
+ "name" : "service call on first person detection",
+ "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/f/*/softbiometrics [hri_msgs/Softbiometrics]",
+ "uuid" : "524ee896-7eeb-4b36-96f8-e03fa454f837"
},
{
- "from" : "b70f5085-b32c-47de-b158-73fc4d83fb93:person_id_candidate [hri_msgs/IdsMatch]",
+ "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/head_front_camera/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:candidate_matchs [hri_msgs/IdsMatch]",
- "uuid" : "bd9d1c95-32d1-4be0-b858-5bd71b12fdd8"
+ "to" : "b357b248-d5a8-445d-9c09-5c567d074966:/camera_head/color/image_raw [sensor_msgs/Image]",
+ "uuid" : "467474d3-a155-434e-9203-4a9fe8b18b84"
},
{
- "from" : "1929373a-59ae-474d-bc1b-a2d0be2417cd:/camera_torso/color/image_raw [sensor_msgs/Image]",
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:nav goals",
"name" : "anonymous",
- "to" : "1e291716-8134-4fd0-8bfa-0d910d026fec:/camera_torso/color/image_torso [sensor_msgs/Image]",
- "uuid" : "e7e489c0-507d-4ddb-97fd-a397ca6a74a0"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:following/nav goals",
+ "uuid" : "8349f12e-ea96-4d0d-a315-1ad231539936"
},
{
- "from" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/h/f/*/demographics [hri_msgs/AgeAndGender]",
+ "from" : "8a4e7f8e-3ade-4e30-9f41-1bfeee90055b:person_id_candidate [hri_msgs/IdsMatch]",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:input",
- "uuid" : "29cfa94f-c3b2-4feb-a256-44b7d1dbb304"
+ "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:candidate_matches [hri_msgs/IdsMatch]",
+ "uuid" : "c0e2fb4b-26a7-498e-896b-e3278a6224e6"
},
{
- "from" : "49998d33-7c64-4557-b1c9-56b241b59600:/audio/speech_streams -- array of std_msgs/String",
+ "from" : "4a610776-d94b-4f35-9871-b835e8e0faf7:/h/i/groups [hri_msgs/Group]",
"name" : "anonymous",
- "to" : "fb3919be-ce33-4bf7-96c5-7a084bc5f115:/audio/speech_streams [std_msgs/String]",
- "uuid" : "7781e166-4fa1-4597-bb9c-6ab0df90c5e2"
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/h/i/groups [hri_msgs/Group]",
+ "uuid" : "a6026287-9a20-4be2-a097-95ca3a0e19fc"
},
{
- "from" : "1929373a-59ae-474d-bc1b-a2d0be2417cd:/camera_torso/color/image_raw [sensor_msgs/Image]",
+ "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:DialogueState",
"name" : "anonymous",
- "to" : "814e358a-b568-4082-99f3-4629d35e7f2e:/camera_torso/color/image_raw [sensor_msgs/Image]",
- "uuid" : "ff126a79-e742-43f3-af26-df44dc0363ae"
+ "to" : "35d5af59-53e3-466c-874d-89131352c403:dialogue state",
+ "uuid" : "0607f6c5-e3fd-4b79-9efb-eda2576505dd"
},
{
- "from" : "c9c1df26-7274-4765-8772-b06e15f87c3c:/h/b/*/skeleton2d [hri_msgs/Skeleton2D]",
+ "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/audio/postprocess_audio_streams [audio_common_msgs/AudioData]",
"name" : "anonymous",
- "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:feet position",
- "uuid" : "917f4d3e-5b78-4fd4-bc19-b776e8913206"
+ "to" : "49998d33-7c64-4557-b1c9-56b241b59600:/audio/postprocess_audio_streams [audio_common_msgs/AudioData]",
+ "uuid" : "d9f3d88f-2ce9-46a3-9b5b-7e25e3408056"
},
{
- "from" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:semantic description",
+ "from" : "1e291716-8134-4fd0-8bfa-0d910d026fec:dense 3d map",
"name" : "anonymous",
- "to" : "35d5af59-53e3-466c-874d-89131352c403:semantic scene description",
- "uuid" : "c8b7ebbb-8ba7-4c32-9b99-76a5806b9e3b"
+ "to" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:dense 3d map",
+ "uuid" : "42b5f41f-7a83-4ed2-88c5-c23ed58b6742"
},
{
- "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/h/b/*/roi [hri_msgs/RegionOfInterestStamped]",
+ "from" : "b600af28-8f8a-4da9-89df-12b621f45244:output",
"name" : "anonymous",
- "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:people RoIs",
- "uuid" : "5f1d7cad-c4ba-4c81-a411-241505837aa1"
+ "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:feet position",
+ "uuid" : "1f319e0a-3956-45c1-9000-adcb6c4a9dc1"
},
{
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:next utterance",
+ "from" : "b70f5085-b32c-47de-b158-73fc4d83fb93:/h/v/*/audio [audio_common_msgs/AudioData]",
"name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:speech output",
- "uuid" : "426656f1-0bfe-4b24-b55c-f1fbe35d0f24"
+ "to" : "e9861836-caed-4c19-87e2-13ba1a380613:/h/v/*/audio [audio_common_msgs/AudioData]",
+ "uuid" : "695c4b8b-4ca8-41fe-915f-084b935e46d7"
},
{
- "from" : "fb3919be-ce33-4bf7-96c5-7a084bc5f115:/h/v/*/speech [std_msgs/String]",
+ "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:/h/f/*/roi [hri_msgs/RegionOfInterest]",
"name" : "anonymous",
- "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/h/v/*/speech [std_msgs/String]",
- "uuid" : "28b5d9ee-6f5e-4273-88d6-580a3e5a310f"
+ "to" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a:/h/f/*/roi [hri_msgs/RegionOfInterest]",
+ "uuid" : "30e6e7f9-cf27-4ae4-b695-058b48809f98"
},
{
"from" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:scene graph",
@@ -279,216 +327,272 @@
"uuid" : "b10cbc39-5513-44e6-81ef-1c010a9c940b"
},
{
- "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/camera_head/color/image_raw [sensor_msgs/Image]",
+ "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:/h/f/*/roi [hri_msgs/RegionOfInterest]",
"name" : "anonymous",
- "to" : "9b7043cb-efee-4cbb-b1e6-e88e6d0d68bc:/camera_head/color/image_raw [sensor_msgs/Image]",
- "uuid" : "1b84547a-6183-4c06-8991-c5827ceee5ef"
+ "to" : "8a4e7f8e-3ade-4e30-9f41-1bfeee90055b:/h/f/*/roi [hri_msgs/RegionOfInterestStamped]",
+ "uuid" : "c379435f-7cba-4ecc-9b49-405379374dfe"
},
{
- "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/h/b/*/roi [hri_msgs/RegionOfInterestStamped]",
+ "from" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:/h/i/gaze [hri_msgs/Gaze]",
"name" : "anonymous",
- "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:candidate_matchs [hri_msgs/IdsMatch]",
- "uuid" : "5c32d0f0-6f03-4866-8fea-f333ec994fc6"
+ "to" : "4a610776-d94b-4f35-9871-b835e8e0faf7:/h/i/gaze [hri_msgs/Gaze]",
+ "uuid" : "76fdc6fe-e123-4a43-a6f5-20429c1a7d69"
},
{
- "from" : "e9861836-caed-4c19-87e2-13ba1a380613:/h/f/*/expression [hri_msgs/Expression]",
+ "from" : "49998d33-7c64-4557-b1c9-56b241b59600:/audio/speech_streams -- array of hri_msgs/LiveSpeech",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/h/p/personID",
- "uuid" : "5dc5fa89-bcb0-457c-b062-01f7a8523c3b"
+ "to" : "fb3919be-ce33-4bf7-96c5-7a084bc5f115:/audio/speech_streams [std_msgs/String]",
+ "uuid" : "7781e166-4fa1-4597-bb9c-6ab0df90c5e2"
},
{
- "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/camera_head/color/image_raw [sensor_msgs/Image]",
+ "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/head_front_camera/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:/camera_head/color/image_raw [sensor_msgs/Image]",
- "uuid" : "52344796-4c01-4c66-b4f7-95bd4729c3d8"
+ "to" : "9b7043cb-efee-4cbb-b1e6-e88e6d0d68bc:/camera_head/color/image_raw [sensor_msgs/Image]",
+ "uuid" : "1b84547a-6183-4c06-8991-c5827ceee5ef"
},
{
- "from" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/h/f/*/demographics [hri_msgs/AgeAndGender]",
+ "from" : "409d9526-77ed-4ee3-bae9-ab48381e0b28:/torso_front_camera/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "35d5af59-53e3-466c-874d-89131352c403:demographics",
- "uuid" : "8497fa30-5d68-4f2d-809d-c596395cc58f"
+ "to" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/camera_head/color/image_raw [sensor_msgs/Image]",
+ "uuid" : "0df69792-572a-41d2-ac85-593277dfc65b"
},
{
- "from" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:scene graph",
+ "from" : "c9c1df26-7274-4765-8772-b06e15f87c3c:/h/b/*/skeleton2d [hri_msgs/Skeleton2D]",
"name" : "anonymous",
- "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:scene",
- "uuid" : "2c302ab0-19f5-4939-9345-4122d8e060be"
+ "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:feet position",
+ "uuid" : "917f4d3e-5b78-4fd4-bc19-b776e8913206"
},
{
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:DialogueState",
+ "from" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:semantic description",
"name" : "anonymous",
- "to" : "35d5af59-53e3-466c-874d-89131352c403:dialogue state",
- "uuid" : "0607f6c5-e3fd-4b79-9efb-eda2576505dd"
+ "to" : "35d5af59-53e3-466c-874d-89131352c403:semantic scene description",
+ "uuid" : "c8b7ebbb-8ba7-4c32-9b99-76a5806b9e3b"
},
{
- "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/audio/postprocess_audio_streams -- cf output in node desc",
+ "from" : "e9861836-caed-4c19-87e2-13ba1a380613:/h/f/*/expression [hri_msgs/Expression]",
"name" : "anonymous",
- "to" : "49998d33-7c64-4557-b1c9-56b241b59600:/audio/postprocess_audio_streams [audio_common_msgs/AudioData]",
- "uuid" : "d9f3d88f-2ce9-46a3-9b5b-7e25e3408056"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/h/p/*/softbiometrics [hri_msgs/Softbiometrics]",
+ "uuid" : "5dc5fa89-bcb0-457c-b062-01f7a8523c3b"
},
{
- "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/camera_head/color/image_raw [sensor_msgs/Image]",
+ "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/raw_audio [respeaker_ros/RawAudioData]",
"name" : "anonymous",
- "to" : "b357b248-d5a8-445d-9c09-5c567d074966:/camera_head/color/image_raw [sensor_msgs/Image]",
- "uuid" : "467474d3-a155-434e-9203-4a9fe8b18b84"
+ "to" : "48ed53a1-16b6-42b8-9c8f-6df5dce5b604:/h/v/*/audio [audio_common_msgs/AudioData]",
+ "uuid" : "5f69bd9a-9dce-473c-88c3-03e564d7c021"
},
{
- "from" : "35d5af59-53e3-466c-874d-89131352c403:nav goals",
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:interaction state",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:following/nav goals",
- "uuid" : "8349f12e-ea96-4d0d-a315-1ad231539936"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:robot state",
+ "uuid" : "0a79dcb8-dd0c-44de-ab5a-69905131ab0e"
},
{
- "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:/h/f/*/roi [hri_msgs/RegionOfInterestStamped]",
+ "from" : "35d5af59-53e3-466c-874d-89131352c403:interaction state",
"name" : "anonymous",
- "to" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:/h/f/*/roi [hri_msgs/RegionOfInterestStamped]",
- "uuid" : "477e0004-b15d-46b9-b6a0-80c8963b36c0"
+ "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:interaction messages",
+ "uuid" : "ed16d30f-ff2e-4f62-b96d-ba128166c0f6"
},
{
- "from" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:x,y + attention heatmap",
+ "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/head_front_camera/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:attention",
- "uuid" : "c38977a5-ea01-41e3-b161-164b84e18fa8"
+ "to" : "1e291716-8134-4fd0-8bfa-0d910d026fec:/camera_head/color/image_head [sensor_msgs/Image]",
+ "uuid" : "f02baefa-2160-49be-ada0-6cf0e843447f"
},
{
- "from" : "814e358a-b568-4082-99f3-4629d35e7f2e:tf: /odom",
+ "from" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:tf: /face_id_gaze",
"name" : "anonymous",
- "to" : "1e291716-8134-4fd0-8bfa-0d910d026fec:localisation prior",
- "uuid" : "b5c8c9c8-32a9-431a-ad91-a8c3f873bee5"
+ "to" : "d715b004-7177-4001-bd9d-725e87789c94:gaze direction",
+ "uuid" : "030d86be-bbbc-4e20-8ec6-07484f776a21"
},
{
- "from" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:semantic description",
+ "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/h/b/*/roi [hri_msgs/RegionOfInterest",
"name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:semantic scene description",
- "uuid" : "0c15a3cf-3d24-491b-bbc4-e6d34b1c265c"
+ "to" : "9b7043cb-efee-4cbb-b1e6-e88e6d0d68bc:/h/b/*/roi [hri_msgs/RegionOfInterestStamped]",
+ "uuid" : "88460958-7617-470b-8702-5ff1311aa66e"
},
{
- "from" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:/h/i/gaze [hri_msgs/GazesStamped]",
+ "from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/ego_audio [audio_common_msgs/AudioData]",
"name" : "anonymous",
- "to" : "4a610776-d94b-4f35-9871-b835e8e0faf7:/h/i/gaze [hri_msgs/GazesStamped]",
- "uuid" : "76fdc6fe-e123-4a43-a6f5-20429c1a7d69"
+ "to" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/audio/ego_audio [audio_common_msgs/AudioData]",
+ "uuid" : "b89143e5-d894-4b4c-951b-c573ecd718c4"
},
{
- "from" : "b70f5085-b32c-47de-b158-73fc4d83fb93:/h/v/*/audio [audio_common_msgs/AudioData]",
+ "from" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:tf: /face_id_gaze",
"name" : "anonymous",
- "to" : "e9861836-caed-4c19-87e2-13ba1a380613:/h/v/*/audio [audio_common_msgs/AudioData]",
- "uuid" : "695c4b8b-4ca8-41fe-915f-084b935e46d7"
+ "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:gaze direction",
+ "uuid" : "0de8cacd-26a8-4d65-b9d1-266658e3c74c"
},
{
- "from" : "b70f5085-b32c-47de-b158-73fc4d83fb93:/h/v/*/audio [audio_common_msgs/AudioData]",
+ "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:/h/f/*/roi [hri_msgs/RegionOfInterest]",
"name" : "anonymous",
- "to" : "fb3919be-ce33-4bf7-96c5-7a084bc5f115:/audio/speech_streams [std_msgs/String]",
- "uuid" : "e3df6f6f-c81c-491e-941c-7267619d59a3"
+ "to" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/h/f/*/roi [hri_msgs/RegionOfInterest]",
+ "uuid" : "cc656080-5976-492e-87d3-2c9e177aaf40"
},
{
- "from" : "49998d33-7c64-4557-b1c9-56b241b59600:/audio/speech_streams -- array of std_msgs/String",
+ "from" : "dc52fa2f-b098-4f96-a830-eb329bcf282b:scene graph",
"name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/h/v/*/speech [std_msgs/String]",
- "uuid" : "db3221a7-783a-4ffb-9ca2-8d074e9706fd"
+ "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:scene",
+ "uuid" : "2c302ab0-19f5-4939-9345-4122d8e060be"
},
{
- "from" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e:/h/f/*/demographics [hri_msgs/AgeAndGender]",
- "name" : "service call on first person detection",
- "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/f/*/demographics [hri_msgs/AgeAndGender]",
- "uuid" : "524ee896-7eeb-4b36-96f8-e03fa454f837"
+ "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:next utterance",
+ "name" : "anonymous",
+ "to" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:speech [std_msgs/String]",
+ "uuid" : "9d1fa155-b8c9-464f-a6b0-7a5b435833cd"
},
{
- "from" : "4a610776-d94b-4f35-9871-b835e8e0faf7:/h/i/groups [hri_msgs/GroupsStamped]",
+ "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/head_front_camera/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/h/i/groups [hri_msgs/GroupsStamped]",
- "uuid" : "a6026287-9a20-4be2-a097-95ca3a0e19fc"
+ "to" : "c9c1df26-7274-4765-8772-b06e15f87c3c:/camera_head/color/image_raw [sensor_msgs/Image]",
+ "uuid" : "8350e9d1-a6df-40bc-b74a-03efc53c5254"
},
{
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:gestures",
+ "from" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:/tts/feedback",
"name" : "anonymous",
- "to" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:input",
- "uuid" : "1b666d89-6a0a-46bb-9b96-72e8a7cbe369"
+ "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/tts/feedback",
+ "uuid" : "d18bf8c0-9a5e-478d-9d8a-a6ebc5ac0188"
},
{
- "from" : "48ed53a1-16b6-42b8-9c8f-6df5dce5b604:source angle",
+ "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:DialogueState",
"name" : "anonymous",
- "to" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:sound localization",
- "uuid" : "f801caaa-2adf-42e9-ae6c-a3079b25e7e4"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:dialogue state",
+ "uuid" : "edb67b60-5748-4e4f-bc1c-66f386b4a870"
},
{
- "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/camera_head/color/image_raw [sensor_msgs/Image]",
+ "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/h/b/*/roi [hri_msgs/RegionOfInterest",
"name" : "anonymous",
- "to" : "c9c1df26-7274-4765-8772-b06e15f87c3c:/camera_head/color/image_raw [sensor_msgs/Image]",
- "uuid" : "8350e9d1-a6df-40bc-b74a-03efc53c5254"
+ "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:people RoIs",
+ "uuid" : "5f1d7cad-c4ba-4c81-a411-241505837aa1"
},
{
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:active personID",
+ "from" : "48ed53a1-16b6-42b8-9c8f-6df5dce5b604:tracking information",
"name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/h/v/*/speech [std_msgs/String]",
- "uuid" : "edb7145b-77e7-463a-8b29-f8f2df17cfee"
+ "to" : "b70f5085-b32c-47de-b158-73fc4d83fb93:tracking information",
+ "uuid" : "5d8dea3e-22bb-4008-9687-f6af563f1a56"
},
{
- "from" : "b600af28-8f8a-4da9-89df-12b621f45244:output",
+ "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/head_front_camera/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:feet position",
- "uuid" : "1f319e0a-3956-45c1-9000-adcb6c4a9dc1"
+ "to" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:/camera_head/color/image_raw [sensor_msgs/Image]",
+ "uuid" : "52344796-4c01-4c66-b4f7-95bd4729c3d8"
},
{
- "from" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9:/h/f/*/roi [hri_msgs/RegionOfInterestStamped]",
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:gestures",
"name" : "anonymous",
- "to" : "8a4e7f8e-3ade-4e30-9f41-1bfeee90055b:/h/f/*/roi [hri_msgs/RegionOfInterestStamped]",
- "uuid" : "c379435f-7cba-4ecc-9b49-405379374dfe"
+ "to" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:input",
+ "uuid" : "1b666d89-6a0a-46bb-9b96-72e8a7cbe369"
},
{
- "from" : "328fd73c-ead7-4b87-a815-401958fa77a2:low-level actions",
+ "from" : "48ed53a1-16b6-42b8-9c8f-6df5dce5b604:source angle",
"name" : "anonymous",
- "to" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:input",
- "uuid" : "76376fcb-a31a-40db-9220-1fef7cf68fc8"
+ "to" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:sound localization",
+ "uuid" : "f801caaa-2adf-42e9-ae6c-a3079b25e7e4"
},
{
- "from" : "8a4e7f8e-3ade-4e30-9f41-1bfeee90055b:person_id_candidate [hri_msgs/IdsMatch]",
+ "from" : "fb3919be-ce33-4bf7-96c5-7a084bc5f115:/h/v/*/speech [hri_msgs/LiveSpeech]",
"name" : "anonymous",
- "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:candidate_matchs [hri_msgs/IdsMatch]",
- "uuid" : "c0e2fb4b-26a7-498e-896b-e3278a6224e6"
+ "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/h/v/*/speech [hri_msgs/LiveSpeech]",
+ "uuid" : "28b5d9ee-6f5e-4273-88d6-580a3e5a310f"
},
{
- "from" : "46e542fd-7a41-4d9a-b3fc-981a724bf538:tf: /face_id_gaze",
+ "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/head_front_camera/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "d715b004-7177-4001-bd9d-725e87789c94:gaze direction",
- "uuid" : "030d86be-bbbc-4e20-8ec6-07484f776a21"
+ "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:ground plane",
+ "uuid" : "bc98685f-cced-4a13-9b13-6590f31fc577"
},
{
- "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/h/b/*/roi [hri_msgs/RegionOfInterestStamped]",
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:active personID",
"name" : "anonymous",
- "to" : "9b7043cb-efee-4cbb-b1e6-e88e6d0d68bc:/h/b/*/roi [hri_msgs/RegionOfInterestStamped]",
- "uuid" : "88460958-7617-470b-8702-5ff1311aa66e"
+ "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/h/v/*/speech [hri_msgs/LiveSpeech]",
+ "uuid" : "edb7145b-77e7-463a-8b29-f8f2df17cfee"
},
{
- "from" : "a284bd3a-0273-4d81-89ce-bc8d042b2674:/camera_head/color/image_raw [sensor_msgs/Image]",
+ "from" : "814e358a-b568-4082-99f3-4629d35e7f2e:tf: /odom",
"name" : "anonymous",
- "to" : "4071a411-0acc-401d-8bbb-bb47fdc00697:ground plane",
- "uuid" : "bc98685f-cced-4a13-9b13-6590f31fc577"
+ "to" : "1e291716-8134-4fd0-8bfa-0d910d026fec:localisation prior",
+ "uuid" : "b5c8c9c8-32a9-431a-ad91-a8c3f873bee5"
},
{
- "from" : "633be9cd-9f1b-4cdd-b708-a1edd3742842:depth",
+ "from" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef:semantic description",
"name" : "anonymous",
- "to" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5:depth",
- "uuid" : "01e249b4-2c34-4be3-9f05-ccb2ddacb8a0"
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:semantic scene description",
+ "uuid" : "0c15a3cf-3d24-491b-bbc4-e6d34b1c265c"
},
{
- "from" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3:/audio/postprocess_audio_streams -- cf output in node desc",
+ "from" : "409d9526-77ed-4ee3-bae9-ab48381e0b28:/torso_front_camera/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "b70f5085-b32c-47de-b158-73fc4d83fb93:/audio/postprocess_audio_streams [audio_common_msgs/AudioData]",
- "uuid" : "33421a71-54bc-484c-8110-48814a68a15b"
+ "to" : "814e358a-b568-4082-99f3-4629d35e7f2e:/camera_torso/color/image_raw [sensor_msgs/Image]",
+ "uuid" : "d5f59d72-aba8-4496-9a4c-e6fd3d294508"
},
{
- "from" : "b62de7f5-7899-48fd-a64d-3226e68bb21f:/map_refined [nav_msgs/OccupancyGrid]",
+ "from" : "409d9526-77ed-4ee3-bae9-ab48381e0b28:/torso_front_camera/color/image_raw [sensor_msgs/Image]",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:occupancy map",
- "uuid" : "fd48565b-cdbc-4fcd-a5fd-f3983311a074"
+ "to" : "1e291716-8134-4fd0-8bfa-0d910d026fec:/camera_torso/color/image_torso [sensor_msgs/Image]",
+ "uuid" : "bc9425d1-bf56-4c64-898d-1f5a9a46d695"
}
],
"description" : "EU H2020 SPRING architecture",
"name" : "SPRING architecture",
"nodes" : [
+ {
+ "label" : "INRIA",
+ "name" : "robot_behavior",
+ "ports" : [
+ {
+ "direction" : "in",
+ "name" : "status"
+ },
+ {
+ "direction" : "in",
+ "name" : "look at"
+ },
+ {
+ "direction" : "in",
+ "name" : "following/nav goals"
+ },
+ {
+ "direction" : "in",
+ "name" : "occupancy map"
+ },
+ {
+ "direction" : "out",
+ "name" : "low-level actions"
+ },
+ {
+ "direction" : "out",
+ "name" : "status"
+ },
+ {
+ "direction" : "in",
+ "name" : "/h/i/groups [hri_msgs/Group]"
+ }
+ ],
+ "position" : [ 4040, 1400 ],
+ "size" : [ 380, 324 ],
+ "sub_architecture" : "d5ec9783-4c4f-4652-a8bd-b786a1905f48",
+ "uuid" : "328fd73c-ead7-4b87-a815-401958fa77a2"
+ },
{
"label" : "UNITN",
- "name" : "MOCK: Activity reco",
+ "name" : "Soft biometrics",
+ "ports" : [
+ {
+ "direction" : "in",
+ "name" : "/h/f/*/roi [hri_msgs/RegionOfInterest]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/h/f/*/softbiometrics [hri_msgs/Softbiometrics]"
+ }
+ ],
+ "position" : [ 1440, 1460 ],
+ "size" : [ 346, 120 ],
+ "sub_architecture" : "970d1105-d292-4308-b90f-8d8005a781eb",
+ "uuid" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e"
+ },
+ {
+ "label" : "CVUT",
+ "name" : "MOCK: Occupancy map",
"ports" : [
{
"direction" : "in",
@@ -496,16 +600,32 @@
},
{
"direction" : "in",
- "name" : "gaze direction"
+ "name" : "dense 3d map"
},
{
"direction" : "out",
- "name" : "[?] output"
+ "name" : "/map_refined [nav_msgs/OccupancyGrid]"
}
],
- "position" : [ 3620, 1660 ],
- "size" : [ 280, 160 ],
- "uuid" : "d715b004-7177-4001-bd9d-725e87789c94"
+ "position" : [ 1620, 2080 ],
+ "size" : [ 440, 200 ],
+ "uuid" : "b62de7f5-7899-48fd-a64d-3226e68bb21f"
+ },
+ {
+ "label" : "HWU",
+ "name" : "DEPENDENCY: audio_msgs",
+ "position" : [ 2020, 2420 ],
+ "size" : [ 340, 120 ],
+ "sub_architecture" : "88aec3fc-6d19-455e-96fc-303c6aaab831",
+ "uuid" : "19d263e5-e380-457f-84ba-67b9a4b3ce0b"
+ },
+ {
+ "label" : "HWU",
+ "name" : "DEPENDENCY: social_scene_msgs",
+ "position" : [ 1700, 2420 ],
+ "size" : [ 280, 120 ],
+ "sub_architecture" : "ed680a03-e715-423d-b567-001b19ca4840",
+ "uuid" : "fdf1f034-d96a-4852-bb69-3934073e6708"
},
{
"label" : "CVUT",
@@ -524,404 +644,436 @@
"name" : "/detected_objects [spring_msgs/DetectedObjectArray]"
}
],
- "position" : [ 1580, 1780 ],
+ "position" : [ 1620, 1840 ],
"size" : [ 440, 140 ],
"uuid" : "dc52fa2f-b098-4f96-a830-eb329bcf282b"
},
{
"label" : "UNITN",
- "name" : "MOCK: User attention estimation",
+ "name" : "DEPENDENCY: wp4_msgs",
+ "position" : [ 680, 2420 ],
+ "size" : [ 240, 120 ],
+ "sub_architecture" : "af8592a3-f2de-4843-b29d-8868afac79be",
+ "uuid" : "b84197a2-d5d2-42d1-942b-27383f14a278"
+ },
+ {
+ "label" : "INRIA",
+ "name" : "MOCK: People 3D tracker [position/orientation]",
"ports" : [
{
"direction" : "in",
- "name" : "TF (faces)"
+ "name" : "feet position"
},
{
- "direction" : "out",
- "name" : "tf: /face_id_gaze"
+ "direction" : "in",
+ "name" : "ground plane"
},
{
- "direction" : "out",
- "name" : "x,y + attention heatmap"
+ "direction" : "in",
+ "name" : "people RoIs"
},
{
- "direction" : "in",
- "name" : "/h/f/*/roi [hri_msgs/RegionOfInterestStamped]"
+ "direction" : "out",
+ "name" : "tf: /body_id"
}
],
- "position" : [ 2940, 1880 ],
- "size" : [ 398, 169 ],
- "uuid" : "46e542fd-7a41-4d9a-b3fc-981a724bf538"
+ "position" : [ 1940, 760 ],
+ "size" : [ 360, 180 ],
+ "sub_architecture" : "6b0cec9a-b148-4d1d-b038-2986a289b7e6",
+ "uuid" : "4071a411-0acc-401d-8bbb-bb47fdc00697"
},
{
- "label" : "BIU",
- "name" : "MOCK: Sound source localisation",
+ "label" : "UNITN",
+ "name" : "Mask detection",
"ports" : [
{
"direction" : "out",
- "name" : "source angle"
- },
- {
- "direction" : "out",
- "name" : "tracking information"
- },
- {
- "direction" : "out",
- "name" : "tf: /voice_id"
- },
- {
- "direction" : "out",
- "name" : "output"
+ "name" : "/h/f/*/mask [std_msgs/Bool]"
},
{
"direction" : "in",
- "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
+ "name" : "/h/f/*/roi [hri_msgs/RegionOfInterest]"
}
],
- "position" : [ 460, 500 ],
- "size" : [ 360, 200 ],
- "uuid" : "48ed53a1-16b6-42b8-9c8f-6df5dce5b604"
+ "position" : [ 1440, 1620 ],
+ "size" : [ 345, 120 ],
+ "sub_architecture" : "b343b3de-f4eb-412c-ae93-fca0f090ee5d",
+ "uuid" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a"
},
{
"label" : "HWU",
- "name" : "MOCK: interaction_manager",
+ "name" : "dialogue arbiter",
"ports" : [
{
- "direction" : "out",
- "name" : "who to look at"
- },
- {
- "direction" : "out",
- "name" : "verbal command"
+ "direction" : "in",
+ "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
},
{
"direction" : "in",
- "name" : "semantic scene description"
+ "name" : "interaction messages"
},
{
"direction" : "out",
- "name" : "nav goals"
+ "name" : "DialogueState"
},
{
- "direction" : "in",
- "name" : "input"
- },
+ "direction" : "out",
+ "name" : "next utterance"
+ }
+ ],
+ "position" : [ 3580, 380 ],
+ "size" : [ 300, 169 ],
+ "sub_architecture" : "e2ee44b3-4f04-4a27-a947-525fae05035d",
+ "uuid" : "9ab39362-e233-44d2-9d06-dd24694446f2"
+ },
+ {
+ "label" : "BIU",
+ "name" : "MOCK: Speaker identification",
+ "ports" : [
{
"direction" : "in",
- "name" : "dialogue state"
- },
- {
- "direction" : "out",
- "name" : "gestures"
+ "name" : "/audio/postprocess_audio_streams [audio_common_msgs/AudioData]"
},
{
"direction" : "in",
- "name" : "robot state"
+ "name" : "tracking information"
},
{
"direction" : "out",
- "name" : "active personID"
- },
- {
- "direction" : "in",
- "name" : "TF"
+ "name" : "person_id_candidate [hri_msgs/IdsMatch]"
},
{
- "direction" : "in",
- "name" : "/h/p/personID"
+ "direction" : "out",
+ "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
}
],
- "position" : [ 3200, 700 ],
- "size" : [ 400, 386 ],
- "sub_architecture" : "b87a23ac-d223-4bac-b438-0b16e6e55270",
- "uuid" : "bc526a14-c5aa-466e-ba5b-30a78b14d672"
+ "position" : [ 2360, 300 ],
+ "size" : [ 502, 169 ],
+ "sub_architecture" : "9387ee34-690d-4830-932c-7567cee820ef",
+ "uuid" : "b70f5085-b32c-47de-b158-73fc4d83fb93"
},
{
- "label" : "INRIA",
- "name" : "MOCK: People 3D tracker [position/orientation]",
+ "label" : "CVUT",
+ "name" : "MOCK: Visual SLAM + 3D map",
"ports" : [
{
- "direction" : "in",
- "name" : "ground plane"
+ "direction" : "out",
+ "name" : "tf: /odom"
},
{
- "direction" : "out",
- "name" : "tf: /body_id"
+ "direction" : "in",
+ "name" : "/camera_torso/color/image_torso [sensor_msgs/Image]"
},
{
"direction" : "in",
- "name" : "feet position"
+ "name" : "/camera_head/color/image_head [sensor_msgs/Image]"
+ },
+ {
+ "direction" : "out",
+ "name" : "dense 3d map"
},
{
"direction" : "in",
- "name" : "people RoIs"
+ "name" : "localisation prior"
}
],
- "position" : [ 1900, 700 ],
- "size" : [ 360, 180 ],
- "uuid" : "4071a411-0acc-401d-8bbb-bb47fdc00697"
- },
- {
- "label" : "Other",
- "name" : "DEPENDENCY: hri_msgs",
- "position" : [ 20, 2260 ],
- "size" : [ 280, 120 ],
- "sub_architecture" : "7590c224-e846-4f1c-9ecb-0a2992568089",
- "uuid" : "b5076968-861b-43cb-8bd8-35a5fefebfe4"
+ "position" : [ 1040, 2080 ],
+ "size" : [ 440, 200 ],
+ "uuid" : "1e291716-8134-4fd0-8bfa-0d910d026fec"
},
{
- "label" : "PAL",
- "name" : "MOCK: Speech synthesis",
+ "label" : "UNITN",
+ "name" : "MOCK: Face detection",
"ports" : [
{
"direction" : "in",
- "name" : "speech [std_msgs/String]"
+ "name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
},
{
"direction" : "out",
- "name" : "/tts/feedback"
+ "name" : "/h/f/*/roi [hri_msgs/RegionOfInterest]"
}
],
- "position" : [ 4440, 900 ],
- "size" : [ 280, 120 ],
- "uuid" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104"
+ "position" : [ 740, 1360 ],
+ "size" : [ 400, 120 ],
+ "uuid" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9"
},
{
- "label" : "PAL",
- "name" : "MOCK: Fisheye",
+ "label" : "UNITN",
+ "name" : "MOCK: User visual focus",
"ports" : [
+ {
+ "direction" : "in",
+ "name" : "scene"
+ },
{
"direction" : "out",
- "name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
+ "name" : "who's looking at what?"
+ },
+ {
+ "direction" : "in",
+ "name" : "attention"
+ },
+ {
+ "direction" : "out",
+ "name" : "/h/i/gaze [hri_msgs/Gaze]"
+ },
+ {
+ "direction" : "in",
+ "name" : "depth"
+ },
+ {
+ "direction" : "in",
+ "name" : "gaze direction"
}
],
- "position" : [ 60, 980 ],
- "size" : [ 387, 120 ],
- "uuid" : "409d9526-77ed-4ee3-bae9-ab48381e0b28"
+ "position" : [ 3620, 1980 ],
+ "size" : [ 340, 231 ],
+ "uuid" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5"
},
{
"label" : "UNITN",
- "name" : "MOCK: F-formation",
- "ports" : [
- {
- "direction" : "in",
- "name" : "tf: /person_id"
- },
+ "name" : "MOCK: Depth estimation from monocular",
+ "ports" : [
{
"direction" : "in",
- "name" : "/h/i/gaze [hri_msgs/GazesStamped]"
+ "name" : "input"
},
{
"direction" : "out",
- "name" : "/h/i/groups [hri_msgs/GroupsStamped]"
+ "name" : "depth"
}
],
- "position" : [ 3960, 1880 ],
- "size" : [ 300, 160 ],
- "uuid" : "4a610776-d94b-4f35-9871-b835e8e0faf7"
+ "position" : [ 2980, 2160 ],
+ "size" : [ 340, 160 ],
+ "uuid" : "633be9cd-9f1b-4cdd-b708-a1edd3742842"
},
{
- "label" : "CVUT",
- "name" : "MOCK: Occupancy map",
+ "label" : "PAL",
+ "name" : "hri_fullbody",
"ports" : [
{
"direction" : "in",
- "name" : "TF (bodies)"
+ "name" : "/h/b/*/roi [hri_msgs/RegionOfInterestStamped]"
},
{
"direction" : "out",
- "name" : "/map_refined [nav_msgs/OccupancyGrid]"
+ "name" : "tf: /full_body"
+ },
+ {
+ "direction" : "out",
+ "name" : "/h/b/*/skeleton2d [hri_msgs/Skeleton2D]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/h/f/*/roi [hri_msgs/RegionOfInterest]"
},
{
"direction" : "in",
- "name" : "dense 3d map"
+ "name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
}
],
- "position" : [ 1580, 2020 ],
- "size" : [ 440, 200 ],
- "uuid" : "b62de7f5-7899-48fd-a64d-3226e68bb21f"
+ "position" : [ 1380, 1040 ],
+ "size" : [ 520, 200 ],
+ "uuid" : "9b7043cb-efee-4cbb-b1e6-e88e6d0d68bc"
},
{
- "label" : "HWU",
- "name" : "MOCK: dialogue arbiter",
+ "label" : "ERM",
+ "name" : "MOCK: Robot GUI [tablet]",
"ports" : [
{
- "direction" : "out",
- "name" : "next utterance"
+ "direction" : "in",
+ "name" : "additional support material"
},
{
"direction" : "in",
- "name" : "/h/v/*/speech [std_msgs/String]"
+ "name" : "/tts/feedback"
},
{
"direction" : "in",
- "name" : "interaction messages"
+ "name" : "speech output"
},
{
- "direction" : "out",
- "name" : "DialogueState"
+ "direction" : "in",
+ "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
}
],
- "position" : [ 2880, 420 ],
- "size" : [ 300, 169 ],
- "sub_architecture" : "e2ee44b3-4f04-4a27-a947-525fae05035d",
- "uuid" : "9ab39362-e233-44d2-9d06-dd24694446f2"
+ "position" : [ 4360, 540 ],
+ "size" : [ 400, 180 ],
+ "uuid" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d"
},
{
- "label" : "PAL",
- "name" : "hri_fullbody",
+ "label" : "HWU",
+ "name" : "DEPENDENCY: robot_behaviour_msgs",
+ "position" : [ 1360, 2420 ],
+ "size" : [ 300, 120 ],
+ "sub_architecture" : "9d93f431-05b6-4ee4-88ea-8bb60a01611f",
+ "uuid" : "ef2aa285-f20c-40de-a0fe-b4bb37a9ee8a"
+ },
+ {
+ "label" : "BIU",
+ "name" : "google_asr",
"ports" : [
- {
- "direction" : "out",
- "name" : "tf: /full_body"
- },
{
"direction" : "in",
- "name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
+ "name" : "/audio/postprocess_audio_streams [audio_common_msgs/AudioData]"
},
{
"direction" : "out",
- "name" : "/h/f/*/roi [hri_msgs/RegionOfInterestStamped]"
- },
+ "name" : "/audio/speech_streams -- array of hri_msgs/LiveSpeech"
+ }
+ ],
+ "position" : [ 2360, -40 ],
+ "size" : [ 540, 138 ],
+ "sub_architecture" : "11d2ee50-fd1e-4664-be3b-1a250ec7d758",
+ "uuid" : "49998d33-7c64-4557-b1c9-56b241b59600"
+ },
+ {
+ "label" : "PAL",
+ "name" : "respeaker_ros",
+ "ports" : [
{
- "direction" : "in",
- "name" : "/h/b/*/roi [hri_msgs/RegionOfInterestStamped]"
+ "direction" : "out",
+ "name" : "/audio/ego_audio [audio_common_msgs/AudioData]"
},
{
"direction" : "out",
- "name" : "/h/b/*/skeleton2d [hri_msgs/Skeleton2D]"
+ "name" : "/audio/raw_audio [respeaker_ros/RawAudioData]"
}
],
- "position" : [ 1340, 980 ],
- "size" : [ 520, 200 ],
- "uuid" : "9b7043cb-efee-4cbb-b1e6-e88e6d0d68bc"
+ "position" : [ 700, 340 ],
+ "size" : [ 400, 120 ],
+ "sub_architecture" : "b96ac6ba-08a0-4df0-8341-206c356f7c87",
+ "uuid" : "3e7d7601-34c6-4975-9e36-f50968f141b2"
+ },
+ {
+ "label" : "PAL",
+ "name" : "DEPENDENCY: spring_msgs",
+ "position" : [ 400, 2420 ],
+ "size" : [ 240, 120 ],
+ "sub_architecture" : "754b3165-805d-469a-b604-4dfef5453911",
+ "uuid" : "2e89a11f-a4b0-4b5e-8d72-975d8c47c7f7"
},
{
"label" : "UNITN",
- "name" : "MOCK: Person re-identification",
+ "name" : "MOCK: Non-verbal behaviours",
"ports" : [
{
"direction" : "out",
- "name" : "person_id_candidate [hri_msgs/IdsMatch]"
+ "name" : "/h/f/*/expression [hri_msgs/Expression]"
},
{
"direction" : "in",
- "name" : "/h/f/*/roi [hri_msgs/RegionOfInterestStamped]"
+ "name" : "/h/f/*/roi [hri_msgs/RegionOfInterest]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
}
],
- "position" : [ 1400, 1240 ],
- "size" : [ 345, 138 ],
- "uuid" : "8a4e7f8e-3ade-4e30-9f41-1bfeee90055b"
+ "position" : [ 3000, 1620 ],
+ "size" : [ 480, 180 ],
+ "uuid" : "e9861836-caed-4c19-87e2-13ba1a380613"
},
{
- "label" : "INRIA",
- "name" : "MOCK: ROS openpose [used by INRIA]",
+ "label" : "UNITN",
+ "name" : "MOCK: Activity reco",
"ports" : [
+ {
+ "direction" : "out",
+ "name" : "[?] output"
+ },
{
"direction" : "in",
- "name" : "input"
+ "name" : "TF (bodies)"
},
{
- "direction" : "out",
- "name" : "output"
+ "direction" : "in",
+ "name" : "gaze direction"
}
],
- "position" : [ 1500, 680 ],
- "size" : [ 300, 120 ],
- "uuid" : "b600af28-8f8a-4da9-89df-12b621f45244"
+ "position" : [ 3660, 1720 ],
+ "size" : [ 280, 160 ],
+ "uuid" : "d715b004-7177-4001-bd9d-725e87789c94"
},
{
"label" : "UNITN",
- "name" : "MOCK: User visual focus",
+ "name" : "MOCK: User attention estimation",
"ports" : [
- {
- "direction" : "in",
- "name" : "scene"
- },
{
"direction" : "out",
- "name" : "who's looking at what?"
+ "name" : "tf: /face_id_gaze"
},
{
- "direction" : "in",
- "name" : "gaze direction"
+ "direction" : "out",
+ "name" : "x,y + attention heatmap"
},
{
"direction" : "in",
- "name" : "attention"
- },
- {
- "direction" : "out",
- "name" : "/h/i/gaze [hri_msgs/GazesStamped]"
+ "name" : "/h/f/*/roi [hri_msgs/RegionOfInterest]"
},
{
"direction" : "in",
- "name" : "depth"
+ "name" : "TF (faces)"
}
],
- "position" : [ 3580, 1920 ],
- "size" : [ 340, 231 ],
- "uuid" : "9f0f2859-8e0e-4f48-829f-8d828cbab1d5"
+ "position" : [ 2980, 1940 ],
+ "size" : [ 398, 169 ],
+ "uuid" : "46e542fd-7a41-4d9a-b3fc-981a724bf538"
},
{
- "label" : "INRIA",
- "name" : "MOCK: robot_behavior",
+ "label" : "HWU",
+ "name" : "interaction_manager",
"ports" : [
{
"direction" : "in",
- "name" : "/h/i/groups [hri_msgs/GroupsStamped]"
+ "name" : "dialogue state"
},
{
- "direction" : "in",
- "name" : "status"
+ "direction" : "out",
+ "name" : "gestures"
},
{
"direction" : "in",
- "name" : "look at"
+ "name" : "robot state"
},
{
- "direction" : "in",
- "name" : "following/nav goals"
+ "direction" : "out",
+ "name" : "active personID"
+ },
+ {
+ "direction" : "out",
+ "name" : "nav goals"
},
{
"direction" : "in",
- "name" : "occupancy map"
+ "name" : "semantic scene description"
},
{
- "direction" : "out",
- "name" : "low-level actions"
+ "direction" : "in",
+ "name" : "TF"
},
{
"direction" : "out",
- "name" : "status"
- }
- ],
- "position" : [ 4000, 1340 ],
- "size" : [ 380, 324 ],
- "sub_architecture" : "d5ec9783-4c4f-4652-a8bd-b786a1905f48",
- "uuid" : "328fd73c-ead7-4b87-a815-401958fa77a2"
- },
- {
- "label" : "PAL",
- "name" : "respeaker_ros",
- "ports" : [
+ "name" : "who to look at"
+ },
{
"direction" : "out",
- "name" : "/audio/raw_audio [respeaker_ros/RawAudioData]"
+ "name" : "verbal command"
},
{
- "direction" : "out",
- "name" : "/audio/ego_audio [audio_common_msgs/AudioData]"
+ "direction" : "in",
+ "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
}
],
- "position" : [ 0, 380 ],
- "size" : [ 400, 120 ],
- "sub_architecture" : "b96ac6ba-08a0-4df0-8341-206c356f7c87",
- "uuid" : "3e7d7601-34c6-4975-9e36-f50968f141b2"
+ "position" : [ 3240, 760 ],
+ "size" : [ 400, 386 ],
+ "sub_architecture" : "b87a23ac-d223-4bac-b438-0b16e6e55270",
+ "uuid" : "bc526a14-c5aa-466e-ba5b-30a78b14d672"
},
{
"label" : "BIU",
- "name" : "audio_processing",
+ "name" : "MOCK: MoDE",
"ports" : [
{
"direction" : "in",
@@ -929,7 +1081,7 @@
},
{
"direction" : "out",
- "name" : "/audio/postprocess_audio_streams -- cf output in node desc"
+ "name" : "/audio/postprocess_audio_streams [audio_common_msgs/AudioData]"
},
{
"direction" : "in",
@@ -940,124 +1092,120 @@
"name" : "/audio/ego_audio [audio_common_msgs/AudioData]"
}
],
- "position" : [ 940, 140 ],
+ "position" : [ 1640, 100 ],
"size" : [ 580, 260 ],
"sub_architecture" : "703291ee-d2c9-4f3c-a94c-fb6030dd783e",
"uuid" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3"
},
{
- "label" : "PAL",
- "name" : "MOCK: ORB SLAM",
+ "label" : "HWU",
+ "name" : "robot_behaviour_plan_actions",
"ports" : [
{
"direction" : "out",
- "name" : "/map [nav_msgs/OccupancyGrid]"
- },
- {
- "direction" : "out",
- "name" : "tf: /odom"
+ "name" : "interaction state"
},
{
"direction" : "in",
- "name" : "/camera_torso/color/image_raw [sensor_msgs/Image]"
- }
- ],
- "position" : [ 500, 1860 ],
- "size" : [ 400, 140 ],
- "uuid" : "814e358a-b568-4082-99f3-4629d35e7f2e"
- },
- {
- "label" : "BIU",
- "name" : "MOCK: Speaker identification",
- "ports" : [
+ "name" : "semantic scene description"
+ },
{
- "direction" : "in",
- "name" : "tracking information"
+ "direction" : "out",
+ "name" : "output"
},
{
"direction" : "in",
- "name" : "/audio/postprocess_audio_streams [audio_common_msgs/AudioData]"
+ "name" : "dialogue state"
},
{
"direction" : "out",
- "name" : "person_id_candidate [hri_msgs/IdsMatch]"
+ "name" : "nav goals"
},
{
- "direction" : "out",
- "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
+ "direction" : "in",
+ "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
+ },
+ {
+ "direction" : "in",
+ "name" : "TF (persons)"
}
],
- "position" : [ 1660, 340 ],
- "size" : [ 502, 169 ],
- "sub_architecture" : "9387ee34-690d-4830-932c-7567cee820ef",
- "uuid" : "b70f5085-b32c-47de-b158-73fc4d83fb93"
+ "position" : [ 3240, 1180 ],
+ "size" : [ 400, 293 ],
+ "sub_architecture" : "9ff15583-a3c7-439b-a578-91ea4afac364",
+ "uuid" : "35d5af59-53e3-466c-874d-89131352c403"
},
{
- "label" : "PAL",
- "name" : "MOCK: RGB head [+ Fisheye stereo]",
+ "label" : "INRIA",
+ "name" : "FairMOT Multi-people body tracker",
"ports" : [
{
"direction" : "out",
+ "name" : "/h/b/*/cropped [sensor_msg/Image]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/h/b/*/roi [hri_msgs/RegionOfInterest"
+ },
+ {
+ "direction" : "in",
"name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
}
],
- "position" : [ 40, 1220 ],
- "size" : [ 398, 120 ],
- "uuid" : "a284bd3a-0273-4d81-89ce-bc8d042b2674"
+ "position" : [ 740, 840 ],
+ "size" : [ 440, 138 ],
+ "sub_architecture" : "d0367ed7-2b45-4244-9507-538e7767127f",
+ "uuid" : "d609252f-2fd4-4439-86c3-ece9fd387a3a"
},
{
- "label" : "CVUT",
- "name" : "MOCK: Visual SLAM + 3D map",
+ "label" : "BIU",
+ "name" : "MOCK: Sound source localisation",
"ports" : [
{
- "direction" : "out",
- "name" : "dense 3d map"
+ "direction" : "in",
+ "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
},
{
"direction" : "out",
- "name" : "tf: /odom"
+ "name" : "source angle"
},
{
- "direction" : "in",
- "name" : "localisation prior"
+ "direction" : "out",
+ "name" : "tracking information"
},
{
- "direction" : "in",
- "name" : "/camera_torso/color/image_torso [sensor_msgs/Image]"
+ "direction" : "out",
+ "name" : "tf: /voice_id"
},
{
- "direction" : "in",
- "name" : "/camera_head/color/image_head [sensor_msgs/Image]"
+ "direction" : "out",
+ "name" : "output"
}
],
- "position" : [ 1000, 2020 ],
- "size" : [ 440, 200 ],
- "uuid" : "1e291716-8134-4fd0-8bfa-0d910d026fec"
+ "position" : [ 1160, 460 ],
+ "size" : [ 360, 200 ],
+ "uuid" : "48ed53a1-16b6-42b8-9c8f-6df5dce5b604"
},
{
"label" : "UNITN",
- "name" : "MOCK: Non-verbal behaviours",
+ "name" : "MOCK: Person re-identification",
"ports" : [
- {
- "direction" : "out",
- "name" : "/h/f/*/expression [hri_msgs/Expression]"
- },
{
"direction" : "in",
"name" : "/h/f/*/roi [hri_msgs/RegionOfInterestStamped]"
},
{
- "direction" : "in",
- "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
+ "direction" : "out",
+ "name" : "person_id_candidate [hri_msgs/IdsMatch]"
}
],
- "position" : [ 2960, 1560 ],
- "size" : [ 480, 180 ],
- "uuid" : "e9861836-caed-4c19-87e2-13ba1a380613"
+ "position" : [ 1440, 1300 ],
+ "size" : [ 345, 138 ],
+ "uuid" : "8a4e7f8e-3ade-4e30-9f41-1bfeee90055b"
},
{
- "label" : "HWU",
- "name" : "MOCK: plan_actions",
+ "label" : "INRIA",
+ "name" : "MOCK: ROS openpose [used by INRIA]",
"ports" : [
{
"direction" : "out",
@@ -1065,50 +1213,71 @@
},
{
"direction" : "in",
- "name" : "demographics"
- },
+ "name" : "input"
+ }
+ ],
+ "position" : [ 1540, 740 ],
+ "size" : [ 300, 120 ],
+ "uuid" : "b600af28-8f8a-4da9-89df-12b621f45244"
+ },
+ {
+ "label" : "PAL",
+ "name" : "fisheye",
+ "ports" : [
{
"direction" : "out",
- "name" : "nav goals"
- },
- {
- "direction" : "in",
- "name" : "dialogue state"
- },
+ "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
+ }
+ ],
+ "position" : [ 60, 1700 ],
+ "size" : [ 432.421875, 120 ],
+ "uuid" : "409d9526-77ed-4ee3-bae9-ab48381e0b28"
+ },
+ {
+ "label" : "PAL",
+ "name" : "DEPENDENCY: hri_msgs",
+ "position" : [ 60, 2420 ],
+ "size" : [ 280, 120 ],
+ "sub_architecture" : "7590c224-e846-4f1c-9ecb-0a2992568089",
+ "uuid" : "b5076968-861b-43cb-8bd8-35a5fefebfe4"
+ },
+ {
+ "label" : "PAL",
+ "name" : "MOCK: Speech synthesis",
+ "ports" : [
{
"direction" : "in",
- "name" : "TF (persons)"
+ "name" : "speech [std_msgs/String]"
},
{
"direction" : "out",
- "name" : "interaction state"
- },
- {
- "direction" : "in",
- "name" : "semantic scene description"
+ "name" : "/tts/feedback"
}
],
- "position" : [ 3220, 1120 ],
- "size" : [ 400, 293 ],
- "sub_architecture" : "9ff15583-a3c7-439b-a578-91ea4afac364",
- "uuid" : "35d5af59-53e3-466c-874d-89131352c403"
+ "position" : [ 4260, 940 ],
+ "size" : [ 280, 120 ],
+ "uuid" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104"
},
{
- "label" : "CVUT",
- "name" : "MOCK: Object detection/identification/localisation",
+ "label" : "UNITN",
+ "name" : "MOCK: F-formation",
"ports" : [
+ {
+ "direction" : "in",
+ "name" : "/h/i/gaze [hri_msgs/Gaze]"
+ },
{
"direction" : "out",
- "name" : "/detected_objects [spring_msgs/DetectedObjectArray]"
+ "name" : "/h/i/groups [hri_msgs/Group]"
},
{
"direction" : "in",
- "name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
+ "name" : "tf: /person_id"
}
],
- "position" : [ 1000, 1780 ],
- "size" : [ 440, 140 ],
- "uuid" : "b357b248-d5a8-445d-9c09-5c567d074966"
+ "position" : [ 4000, 1940 ],
+ "size" : [ 300, 160 ],
+ "uuid" : "4a610776-d94b-4f35-9871-b835e8e0faf7"
},
{
"label" : "UNITN",
@@ -1120,35 +1289,30 @@
},
{
"direction" : "in",
- "name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
+ "name" : "/h/b/*/roi [hri_msgs/RegionOfInterest]"
},
{
"direction" : "in",
- "name" : "/h/b/*/roi [hri_msgs/RegionOfInterestStamped]"
+ "name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
}
],
- "position" : [ 1360, 820 ],
+ "position" : [ 1400, 880 ],
"size" : [ 440, 140 ],
"sub_architecture" : "e496dc05-fbf4-467f-95cf-d8548eefe677",
"uuid" : "c9c1df26-7274-4765-8772-b06e15f87c3c"
},
{
- "label" : "BIU",
- "name" : "google_asr",
+ "label" : "PAL",
+ "name" : "raspicam",
"ports" : [
- {
- "direction" : "in",
- "name" : "/audio/postprocess_audio_streams [audio_common_msgs/AudioData]"
- },
{
"direction" : "out",
- "name" : "/audio/speech_streams -- array of std_msgs/String"
+ "name" : "/head_front_camera/color/image_raw [sensor_msgs/Image]"
}
],
- "position" : [ 1660, 0 ],
- "size" : [ 540, 138 ],
- "sub_architecture" : "11d2ee50-fd1e-4664-be3b-1a250ec7d758",
- "uuid" : "49998d33-7c64-4557-b1c9-56b241b59600"
+ "position" : [ 40, 1120 ],
+ "size" : [ 440, 120 ],
+ "uuid" : "a284bd3a-0273-4d81-89ce-bc8d042b2674"
},
{
"label" : "PAL",
@@ -1159,98 +1323,65 @@
"name" : "input"
}
],
- "position" : [ 4420, 1080 ],
+ "position" : [ 4460, 1140 ],
"size" : [ 240, 120 ],
"uuid" : "20eb61ac-3243-41ed-b855-451cd88e4ae5"
},
{
- "label" : "INRIA",
- "name" : "MOCK: Person manager",
+ "label" : "HWU",
+ "name" : "social_scene_context_understanding",
"ports" : [
- {
- "direction" : "out",
- "name" : "/h/p/*/face_id [std_msgs/String]"
- },
- {
- "direction" : "out",
- "name" : "tf: /person_id"
- },
- {
- "direction" : "in",
- "name" : "/h/f/*/demographics [hri_msgs/AgeAndGender]"
- },
- {
- "direction" : "out",
- "name" : "/h/p/*/demographics [hri_msgs/AgeAndGender]"
- },
{
"direction" : "in",
- "name" : "TF (faces)"
- },
- {
- "direction" : "out",
- "name" : "/humans/persons/*/body_id [std_msgs/String]"
+ "name" : "scene graph"
},
{
"direction" : "out",
- "name" : "/h/p/*/voice_id [std_msgs/String]"
- },
- {
- "direction" : "in",
- "name" : "candidate_matchs [hri_msgs/IdsMatch]"
- },
- {
- "direction" : "in",
- "name" : "TF (voices)"
+ "name" : "semantic description"
}
],
- "position" : [ 2380, 700 ],
- "size" : [ 400, 820 ],
- "sub_architecture" : "1f5e18f3-1be0-4e21-a3e1-439a597fe002",
- "uuid" : "43da963c-18a8-4ad7-86f6-f361a9d25d36"
+ "position" : [ 2280, 2020 ],
+ "size" : [ 400, 120 ],
+ "sub_architecture" : "05421051-4c03-42de-8bbb-0d0965e14f68",
+ "uuid" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef"
},
{
- "label" : "UNITN",
- "name" : "MOCK: Face detection",
+ "label" : "PAL",
+ "name" : "ORB SLAM",
"ports" : [
{
"direction" : "in",
- "name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
+ "name" : "/camera_torso/color/image_raw [sensor_msgs/Image]"
},
{
"direction" : "out",
- "name" : "/h/f/*/roi [hri_msgs/RegionOfInterestStamped]"
+ "name" : "tf: /odom"
+ },
+ {
+ "direction" : "out",
+ "name" : "/map [nav_msgs/OccupancyGrid]"
}
],
- "position" : [ 700, 1300 ],
- "size" : [ 400, 120 ],
- "uuid" : "f24bbad8-6031-41f9-9ba3-56a4b3335ef9"
+ "position" : [ 480, 2120 ],
+ "size" : [ 400, 140 ],
+ "uuid" : "814e358a-b568-4082-99f3-4629d35e7f2e"
},
{
- "label" : "Other",
- "name" : "DEPENDENCY: spring_msgs",
- "position" : [ 360, 2260 ],
- "size" : [ 240, 120 ],
- "sub_architecture" : "754b3165-805d-469a-b604-4dfef5453911",
- "uuid" : "2e89a11f-a4b0-4b5e-8d72-975d8c47c7f7"
+ "label" : "HWU",
+ "name" : "DEPENDENCY: interaction_manager_msgs",
+ "position" : [ 980, 2420 ],
+ "size" : [ 340, 120 ],
+ "sub_architecture" : "269a1164-ad2d-488c-9b86-b4256faddf9f",
+ "uuid" : "e4ad4076-7fa2-496d-b8ce-0d2c43eca484"
},
{
- "label" : "PAL",
- "name" : "MOCK: RGB-D + camera_info",
+ "label" : "BIU",
+ "name" : "MOCK: Voice speech matching",
"ports" : [
{
"direction" : "out",
- "name" : "/camera_torso/color/image_raw [sensor_msgs/Image]"
- }
- ],
- "position" : [ 20, 2040 ],
- "size" : [ 440, 120 ],
- "uuid" : "1929373a-59ae-474d-bc1b-a2d0be2417cd"
- },
- {
- "label" : "BIU",
- "name" : "Voice speech matching",
- "ports" : [
+ "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
+ },
{
"direction" : "in",
"name" : "/audio/speech_streams [std_msgs/String]"
@@ -1258,130 +1389,78 @@
{
"direction" : "in",
"name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
- },
- {
- "direction" : "out",
- "name" : "/h/v/*/speech [std_msgs/String]"
}
],
- "position" : [ 2220, 180 ],
+ "position" : [ 2960, 160 ],
"size" : [ 500, 160 ],
"uuid" : "fb3919be-ce33-4bf7-96c5-7a084bc5f115"
},
{
- "label" : "UNITN",
- "name" : "MOCK: Mask detection",
+ "label" : "INRIA",
+ "name" : "MOCK: Person manager",
"ports" : [
{
"direction" : "out",
- "name" : "/h/f/*/mask [std_msgs/Bool]"
+ "name" : "/h/p/*/voice_id [std_msgs/String]"
},
{
"direction" : "in",
- "name" : "/h/f/*/roi [hri_msgs/RegionOfInterestStamped]"
- }
- ],
- "position" : [ 1400, 1560 ],
- "size" : [ 345, 120 ],
- "uuid" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a"
- },
- {
- "label" : "UNITN",
- "name" : "MOCK: Depth estimation from monocular",
- "ports" : [
- {
- "direction" : "out",
- "name" : "depth"
+ "name" : "TF (faces)"
},
{
"direction" : "in",
- "name" : "input"
- }
- ],
- "position" : [ 2940, 2100 ],
- "size" : [ 340, 160 ],
- "uuid" : "633be9cd-9f1b-4cdd-b708-a1edd3742842"
- },
- {
- "label" : "HWU",
- "name" : "MOCK: Scene understanding [internal HWU, to clarify]",
- "ports" : [
+ "name" : "TF (voices)"
+ },
{
"direction" : "out",
- "name" : "semantic description"
+ "name" : "/h/p/*/face_id [std_msgs/String]"
},
{
"direction" : "in",
- "name" : "scene graph"
- }
- ],
- "position" : [ 2240, 1960 ],
- "size" : [ 400, 120 ],
- "uuid" : "d4ce24fa-1d84-4929-b6b5-eab4994efeef"
- },
- {
- "label" : "INRIA",
- "name" : "MOCK: Multi-people body tracker",
- "ports" : [
- {
- "direction" : "in",
- "name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
+ "name" : "candidate_matches [hri_msgs/IdsMatch]"
},
{
"direction" : "out",
- "name" : "/h/b/*/roi [hri_msgs/RegionOfInterestStamped]"
- }
- ],
- "position" : [ 700, 780 ],
- "size" : [ 440, 120 ],
- "sub_architecture" : "d0367ed7-2b45-4244-9507-538e7767127f",
- "uuid" : "d609252f-2fd4-4439-86c3-ece9fd387a3a"
- },
- {
- "label" : "ERM",
- "name" : "MOCK: Robot GUI [tablet]",
- "ports" : [
- {
- "direction" : "in",
- "name" : "additional support material"
+ "name" : "tf: /person_id"
},
{
"direction" : "in",
- "name" : "/tts/feedback"
+ "name" : "/h/f/*/softbiometrics [hri_msgs/Softbiometrics]"
},
{
- "direction" : "in",
- "name" : "speech output"
+ "direction" : "out",
+ "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
},
{
- "direction" : "in",
- "name" : "/h/v/*/speech [std_msgs/String]"
+ "direction" : "out",
+ "name" : "/humans/persons/*/body_id [std_msgs/String]"
}
],
- "position" : [ 4320, 480 ],
- "size" : [ 400, 180 ],
- "uuid" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d"
+ "position" : [ 2420, 760 ],
+ "size" : [ 400, 820 ],
+ "sub_architecture" : "1f5e18f3-1be0-4e21-a3e1-439a597fe002",
+ "uuid" : "43da963c-18a8-4ad7-86f6-f361a9d25d36"
},
{
- "label" : "UNITN",
- "name" : "MOCK: Soft biometrics [age/gender]",
+ "label" : "CVUT",
+ "name" : "MOCK: Object detection/identification/localisation",
"ports" : [
{
"direction" : "in",
- "name" : "/h/f/*/roi [hri_msgs/RegionOfInterestStamped]"
+ "name" : "/camera_head/color/image_raw [sensor_msgs/Image]"
},
{
"direction" : "out",
- "name" : "/h/f/*/demographics [hri_msgs/AgeAndGender]"
+ "name" : "/detected_objects [spring_msgs/DetectedObjectArray]"
}
],
- "position" : [ 1400, 1400 ],
- "size" : [ 346, 120 ],
- "uuid" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e"
+ "position" : [ 1040, 1840 ],
+ "size" : [ 440, 140 ],
+ "uuid" : "b357b248-d5a8-445d-9c09-5c567d074966"
}
],
"uuid" : "234f40f3-f9bb-4d69-8121-aec26ac8c228",
- "version" : "0.3.2"
+ "version" : "0.4.0"
}
],
"root" : "234f40f3-f9bb-4d69-8121-aec26ac8c228"
diff --git a/doc/architecture-boxology.jpg b/doc/architecture-boxology.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..28b70db663c4556705809f0a13c0e7fdaeda0b19
Binary files /dev/null and b/doc/architecture-boxology.jpg differ
diff --git a/doc/architecture-boxology.png b/doc/architecture-boxology.png
index 020c4226ff965383d637f6b03c8e9d46133c1019..000fa38430df1bc8fc3483ac3b86df245d8592c0 100644
Binary files a/doc/architecture-boxology.png and b/doc/architecture-boxology.png differ