diff --git a/architecture.json b/architecture.json
index 51d3df5e77b7a35043275d784f69821c1bd81521..e2e8e22683da882b387a5f8051b7d3293a784530 100644
--- a/architecture.json
+++ b/architecture.json
@@ -1,94 +1,58 @@
{
"architectures" : [
{
- "description" : "Web server for the experimenter tablet\n\nREPO:git@gitlab.inria.fr:spring/wp1_user_application/exp-gui.git",
- "name" : "exp_gui",
- "uuid" : "68debd5e-9e7a-486c-a58e-d553009e0cb3",
+ "description" : "blind separation + VAD + enhancement\n\nREPO: git@gitlab.inria.fr:spring/wp3_av_perception/audio_separation.git",
+ "name" : "speaker_separation",
+ "uuid" : "ded25e98-4132-4678-bef7-5d0945fdaf78",
"version" : "main"
},
{
- "description" : "BRIEF: frontal fisheye camera driver",
- "name" : "fisheye",
- "uuid" : "9acdd8b9-4805-4239-aec0-8db4d0977e64",
- "version" : "0.0.1"
- },
- {
- "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" : "BRIEF:Robot action server (group approach)\n ",
- "name" : "go_to_group_action_server",
- "uuid" : "90d17edc-f200-49f6-adad-5100466d6703",
- "version" : "0.0.1"
- },
- {
- "description" : "BRIEF:None\nREPO: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" : "BRIEF:Monocular gaze estimation on planar image This node uses deep learning to estimate, on a given frame, the focus of attention of a detected face. It outputs the 2D coordinate of the most likely focus of attention, in the image space. REPO:https://gitlab.inria.fr/spring/wp4_behavior/gaze-estimation",
+ "name" : "gaze_estimation",
+ "uuid" : "2acb3f97-e06f-4e94-a48f-a3e140ad55fb",
+ "version" : "devel"
},
{
- "description" : "BRIEF:None\nREPO: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",
+ "description" : "BRIEF:None\nREPO: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" : "BRIEF:Petrinet-based task planning\nros_petri_net_node is...",
- "name" : "ros_petri_net_node",
- "uuid" : "d08a0f04-1e8d-4aa1-b71a-b3bf4597d4e2",
- "version" : "0.0.1"
- },
- {
- "description" : "BRIEF:None\nREPO: git@gitlab:ros4hri/hri_msgs.git\nNOT EXECUTABLE",
- "name" : "DEPENDENCY: hri_msgs",
- "uuid" : "7590c224-e846-4f1c-9ecb-0a2992568089",
- "version" : "0.1.1"
- },
- {
- "description" : "BRIEF:Robot action server (body approach)\n ",
- "name" : "go_to_body_action_server",
- "uuid" : "afd60208-b9e3-47d6-91db-ff98641995c4",
+ "description" : "BRIEF: robot's hardware interfaces",
+ "name" : "Robot functional layer",
+ "uuid" : "69547d1d-f0ba-4ebf-b19b-f8cc5e63fd36",
"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: proxy to robot's TTS action server for ERM convenience",
- "name" : "dialogue_say",
- "uuid" : "c854e5a0-2dbe-4eee-a79b-723d08083339",
- "version" : "main"
+ "description" : "only single-speaker pipeline\n\nBRIEF:Audio pre-processing (incl. noise cancellation) This node performs: - speech echo cancelation, - single microphone audio enhancement, REPO:https://gitlab.inria.fr/spring/wp3_av_perception/speech-enhancement SUBFOLDER:audio_processing ",
+ "name" : "audio_processing",
+ "uuid" : "703291ee-d2c9-4f3c-a94c-fb6030dd783e",
+ "version" : "BIU_dev"
},
{
- "description" : "voice embedding + speaker separation together\n\nETA: ~autumn 2023",
- "name" : "MOCK: speaker_extraction",
- "uuid" : "9a662d15-0e9a-4d34-bf73-ab087206578f",
- "version" : "0.0.1"
+ "description" : "BRIEF:Node to republish compressed video streams on the SPRING basestation\nREPO:https://gitlab.inria.fr/spring/wp3_av_perception/docker_republish",
+ "name" : "basestation_republisher",
+ "uuid" : "4b6bafeb-e303-4f6b-a7db-cfa8b1fc5a23",
+ "version" : "master"
},
{
- "description" : "slam_rtabmap is...",
- "name" : "slam_rtabmap",
- "uuid" : "046d668f-a787-4753-ab2f-c2b04f922ad0",
- "version" : "0.0.1"
+ "description" : "REPO:git@gitlab.inria.fr:spring/wp1_user_application/user_application.git",
+ "name" : "MOCK: Robot GUI [tablet]",
+ "uuid" : "8a919bc7-c80b-4325-ac63-d04f2fc1d6bb",
+ "version" : "master"
},
{
- "description" : "BRIEF:Activity recognition\n ",
- "name" : "MOCK: Activity reco",
- "uuid" : "96cd31ae-5485-40db-8b27-b5a09888f810",
- "version" : "0.0.1"
+ "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" : "BRIEF: Frontal RGB-D camera driver",
- "name" : "torso_rgbd_camera",
- "uuid" : "0ccd4f8f-abe0-4eae-9d35-d6af509364eb",
- "version" : "0.0.1"
+ "description" : "2D body detector and tracker, based on the FairMOT algorithm.\nThis code is primarily developed at INRIA by Luis Gomez Camara.\nREPO: https://gitlab.inria.fr/spring/wp3_av_perception/multi-person_visual_tracker/",
+ "name" : "FairMOT Multi-people body tracker",
+ "uuid" : "d0367ed7-2b45-4244-9507-538e7767127f",
+ "version" : "devel"
},
{
"description" : "BRIEF:Probabilistic fusion of faces, bodies, voices into persons\nREPO:git@gitlab.inria.fr:spring/wp7_ari/hri_person_manager.git",
@@ -186,6 +150,90 @@
"uuid" : "11554e14-1e5a-41d0-8604-9f0a4365849b",
"version" : "main"
},
+ {
+ "description" : "BRIEF: frontal fisheye camera driver",
+ "name" : "fisheye",
+ "uuid" : "9acdd8b9-4805-4239-aec0-8db4d0977e64",
+ "version" : "0.0.1"
+ },
+ {
+ "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" : "BRIEF:Robot action server (group approach)\n ",
+ "name" : "go_to_group_action_server",
+ "uuid" : "90d17edc-f200-49f6-adad-5100466d6703",
+ "version" : "0.0.1"
+ },
+ {
+ "description" : "BRIEF:None\nREPO: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" : "BRIEF:None\nREPO: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" : "BRIEF:Petrinet-based task planning\nros_petri_net_node is...",
+ "name" : "ros_petri_net_node",
+ "uuid" : "d08a0f04-1e8d-4aa1-b71a-b3bf4597d4e2",
+ "version" : "0.0.1"
+ },
+ {
+ "description" : "BRIEF:None\nREPO: git@gitlab:ros4hri/hri_msgs.git\nNOT EXECUTABLE",
+ "name" : "DEPENDENCY: hri_msgs",
+ "uuid" : "7590c224-e846-4f1c-9ecb-0a2992568089",
+ "version" : "0.1.1"
+ },
+ {
+ "description" : "BRIEF:Robot action server (body approach)\n ",
+ "name" : "go_to_body_action_server",
+ "uuid" : "afd60208-b9e3-47d6-91db-ff98641995c4",
+ "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: proxy to robot's TTS action server for ERM convenience",
+ "name" : "dialogue_say",
+ "uuid" : "c854e5a0-2dbe-4eee-a79b-723d08083339",
+ "version" : "main"
+ },
+ {
+ "description" : "voice embedding + speaker separation together\n\nETA: ~autumn 2023",
+ "name" : "MOCK: speaker_extraction",
+ "uuid" : "9a662d15-0e9a-4d34-bf73-ab087206578f",
+ "version" : "0.0.1"
+ },
+ {
+ "description" : "slam_rtabmap is...",
+ "name" : "slam_rtabmap",
+ "uuid" : "046d668f-a787-4753-ab2f-c2b04f922ad0",
+ "version" : "0.0.1"
+ },
+ {
+ "description" : "BRIEF:Activity recognition\n ",
+ "name" : "MOCK: Activity reco",
+ "uuid" : "96cd31ae-5485-40db-8b27-b5a09888f810",
+ "version" : "0.0.1"
+ },
+ {
+ "description" : "BRIEF: Frontal RGB-D camera driver",
+ "name" : "torso_rgbd_camera",
+ "uuid" : "0ccd4f8f-abe0-4eae-9d35-d6af509364eb",
+ "version" : "0.0.1"
+ },
{
"description" : "BRIEF:Matching between localised voices and detected bodies\n ",
"name" : "MOCK: Voice-body matching",
@@ -289,73 +337,13 @@
"version" : "0.0.1"
},
{
- "description" : "blind separation + VAD + enhancement\n\nREPO: git@gitlab.inria.fr:spring/wp3_av_perception/audio_separation.git",
- "name" : "speaker_separation",
- "uuid" : "ded25e98-4132-4678-bef7-5d0945fdaf78",
+ "description" : "Web server for the experimenter tablet\n\nREPO:git@gitlab.inria.fr:spring/wp1_user_application/exp-gui.git",
+ "name" : "exp_gui",
+ "uuid" : "68debd5e-9e7a-486c-a58e-d553009e0cb3",
"version" : "main"
},
- {
- "description" : "BRIEF:Monocular gaze estimation on planar image This node uses deep learning to estimate, on a given frame, the focus of attention of a detected face. It outputs the 2D coordinate of the most likely focus of attention, in the image space. REPO:https://gitlab.inria.fr/spring/wp4_behavior/gaze-estimation",
- "name" : "gaze_estimation",
- "uuid" : "2acb3f97-e06f-4e94-a48f-a3e140ad55fb",
- "version" : "devel"
- },
- {
- "description" : "BRIEF:None\nREPO: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" : "BRIEF: robot's hardware interfaces",
- "name" : "Robot functional layer",
- "uuid" : "69547d1d-f0ba-4ebf-b19b-f8cc5e63fd36",
- "version" : "0.0.1"
- },
- {
- "description" : "only single-speaker pipeline\n\nBRIEF:Audio pre-processing (incl. noise cancellation) This node performs: - speech echo cancelation, - single microphone audio enhancement, REPO:https://gitlab.inria.fr/spring/wp3_av_perception/speech-enhancement SUBFOLDER:audio_processing ",
- "name" : "audio_processing",
- "uuid" : "703291ee-d2c9-4f3c-a94c-fb6030dd783e",
- "version" : "BIU_dev"
- },
- {
- "description" : "BRIEF:Node to republish compressed video streams on the SPRING basestation\nREPO:https://gitlab.inria.fr/spring/wp3_av_perception/docker_republish",
- "name" : "basestation_republisher",
- "uuid" : "4b6bafeb-e303-4f6b-a7db-cfa8b1fc5a23",
- "version" : "master"
- },
- {
- "description" : "REPO:git@gitlab.inria.fr:spring/wp1_user_application/user_application.git",
- "name" : "MOCK: Robot GUI [tablet]",
- "uuid" : "8a919bc7-c80b-4325-ac63-d04f2fc1d6bb",
- "version" : "master"
- },
- {
- "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" : "2D body detector and tracker, based on the FairMOT algorithm.\nThis code is primarily developed at INRIA by Luis Gomez Camara.\nREPO: https://gitlab.inria.fr/spring/wp3_av_perception/multi-person_visual_tracker/",
- "name" : "FairMOT Multi-people body tracker",
- "uuid" : "d0367ed7-2b45-4244-9507-538e7767127f",
- "version" : "devel"
- },
{
"connections" : [
- {
- "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" : "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" : "172516ca-a279-42a7-b515-ba2257887296:/humans/candidate_matches [hri_msgs/IdsMatch]",
"name" : "anonymous",
@@ -537,10 +525,22 @@
"uuid" : "329ebd1d-4bf3-4f85-b925-c745d6666a23"
},
{
- "from" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44:/slam/local_map [OccupancyGrid]",
+ "from" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/humans/candidate_matches [hri_msgs/IdsMatch]",
"name" : "anonymous",
- "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/slam/local_map [OccupancyGrid]",
- "uuid" : "56df27e4-afb2-47fa-94cc-39d91d888790"
+ "to" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/humans/candidate_matches [hri_msgs/IdsMatch]",
+ "uuid" : "4a8ca862-079c-40e4-96a8-231cad8c087f"
+ },
+ {
+ "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" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44:/slam/local_map [OccupancyGrid]",
+ "name" : "anonymous",
+ "to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/slam/local_map [OccupancyGrid]",
+ "uuid" : "56df27e4-afb2-47fa-94cc-39d91d888790"
},
{
"from" : "35d5af59-53e3-466c-874d-89131352c403:/queries",
@@ -961,366 +961,264 @@
"name" : "SPRING architecture",
"nodes" : [
{
- "label" : "ERM",
- "name" : "exp_gui",
+ "label" : "BIU",
+ "name" : "speaker_separation",
"ports" : [
{
"direction" : "out",
- "name" : "/dialogue_start/goal [dialogue_msgs/StartDialogueActionGoal] "
- },
- {
- "direction" : "in",
- "name" : "/dialogue_start/status"
- },
- {
- "direction" : "in",
- "name" : "/diagnostics"
+ "name" : "/audio/speaker2/doa [std_msgs/Float32]"
},
{
"direction" : "out",
- "name" : "/experiment_exporter/error_feedback [String]"
+ "name" : "/audio/speaker1/doa [std_msgs/Float32]"
},
{
"direction" : "out",
- "name" : "/dialogue_arbiter/reset [Empty]"
+ "name" : "/audio/speaker1/stream [audio_common_msgs/AudioData]"
},
{
"direction" : "out",
- "name" : "/interaction_manager/start [Empty]"
+ "name" : "/audio/speaker2/stream [audio_common_msgs/AudioData]"
},
{
- "direction" : "out",
- "name" : "/experiment_exporter/file_update [String]"
+ "direction" : "in",
+ "name" : "/audio/raw_audio [audio_common_msgs/AudioData]"
+ }
+ ],
+ "position" : [ 3220, 400 ],
+ "size" : [ 600, 440 ],
+ "sub_architecture" : "ded25e98-4132-4678-bef7-5d0945fdaf78",
+ "uuid" : "63835655-4d0a-4d5a-9849-365826ee7738"
+ },
+ {
+ "label" : "UNITN",
+ "name" : "gaze_estimation",
+ "ports" : [
+ {
+ "direction" : "in",
+ "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
},
{
- "direction" : "out",
- "name" : "/web/go_to [pal_web_msgs/WebGoTo]"
+ "direction" : "in",
+ "name" : "/depth_estimation [sensor_msgs/Image]"
},
{
"direction" : "in",
- "name" : "/slam/localization_pose"
+ "name" : "/h/f/*/roi [sensor_msgs/RegionOfInterest]"
+ },
+ {
+ "direction" : "out",
+ "name" : "GazeFrame [2D point in rgb frame]"
}
],
- "position" : [ 6600, 160 ],
- "size" : [ 580, 324 ],
- "sub_architecture" : "68debd5e-9e7a-486c-a58e-d553009e0cb3",
- "uuid" : "2a909616-5a85-49b8-aafb-37daaa76d48c"
+ "position" : [ 2860, 2420 ],
+ "size" : [ 500, 169 ],
+ "sub_architecture" : "2acb3f97-e06f-4e94-a48f-a3e140ad55fb",
+ "uuid" : "4fbd8427-4d9f-4087-9a30-e7df1c1f69e7"
},
{
- "label" : "BIU",
- "name" : "riva_asr_1",
+ "label" : "HWU",
+ "name" : "DEPENDENCY: audio_msgs",
+ "position" : [ 4320, 3420 ],
+ "size" : [ 340, 120 ],
+ "sub_architecture" : "88aec3fc-6d19-455e-96fc-303c6aaab831",
+ "uuid" : "19d263e5-e380-457f-84ba-67b9a4b3ce0b"
+ },
+ {
+ "label" : "PAL",
+ "name" : "Robot functional layer",
"ports" : [
{
"direction" : "out",
- "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
- },
- {
- "direction" : "in",
- "name" : "/h/v/tracked [hri_msgs/IdsList]"
+ "name" : "/joint_states"
},
{
"direction" : "in",
- "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
+ "name" : "input"
}
],
- "position" : [ 4980, 660 ],
- "size" : [ 540, 138 ],
- "uuid" : "3ff4bbe5-0031-4fd1-af28-cd7bd92c0981"
+ "position" : [ 8780, 2120 ],
+ "size" : [ 240, 120 ],
+ "sub_architecture" : "69547d1d-f0ba-4ebf-b19b-f8cc5e63fd36",
+ "uuid" : "20eb61ac-3243-41ed-b855-451cd88e4ae5"
},
{
- "label" : "PAL",
- "name" : "fisheye",
+ "label" : "BIU",
+ "name" : "audio_processing_mode",
"ports" : [
{
"direction" : "out",
- "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
+ "name" : "/audio/enh_audio [spring_msgs/RawAudioData]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/audio/raw_audio [spring_msgs/RawAudioData]"
}
],
- "position" : [ 180, 1760 ],
- "size" : [ 432, 120 ],
- "sub_architecture" : "9acdd8b9-4805-4239-aec0-8db4d0977e64",
- "uuid" : "409d9526-77ed-4ee3-bae9-ab48381e0b28"
+ "position" : [ 3240, 100 ],
+ "size" : [ 580, 260 ],
+ "sub_architecture" : "703291ee-d2c9-4f3c-a94c-fb6030dd783e",
+ "uuid" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3"
},
{
- "label" : "UNITN",
- "name" : "soft_biometrics_estimator",
+ "label" : "INRIA",
+ "name" : "basestation_republisher",
"ports" : [
{
"direction" : "in",
- "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
+ "name" : "/torso_front_camera/aligned_depth_to_color/image_raw/theora"
+ },
+ {
+ "direction" : "in",
+ "name" : "/front_camera/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]"
},
{
"direction" : "out",
- "name" : "/humans/candidate_matches [hri_msgs/IdsMatch] [face reco]"
+ "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
},
{
"direction" : "out",
- "name" : "/h/f/*/softbiometrics [hri_msgs/SoftBiometrics]"
+ "name" : "/*_basestation/fisheye/... [sensor_msgs/Image]"
},
{
"direction" : "in",
- "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
+ "name" : "/torso_front_camera/color/image_raw/theora"
},
{
"direction" : "in",
- "name" : "/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
+ "name" : "/head_front_camera/color/image_raw/compressed"
}
],
- "position" : [ 2820, 1720 ],
- "size" : [ 601, 200 ],
- "sub_architecture" : "970d1105-d292-4308-b90f-8d8005a781eb",
- "uuid" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e"
+ "position" : [ 780, 1680 ],
+ "size" : [ 580, 260 ],
+ "sub_architecture" : "4b6bafeb-e303-4f6b-a7db-cfa8b1fc5a23",
+ "uuid" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3"
},
{
- "label" : "INRIA",
- "name" : "occupancy_map_republisher",
+ "label" : "ERM",
+ "name" : "rosbridge_websocket",
"ports" : [
{
"direction" : "in",
- "name" : "/slam/obstacle_map [OccupancyGrid]"
+ "name" : "/tts/feedback"
},
{
- "direction" : "out",
- "name" : "/slam/local_map [OccupancyGrid]"
+ "direction" : "in",
+ "name" : "/tts/goal"
},
{
"direction" : "in",
- "name" : "/slam/occupancy_map [OccupancyGrid]"
+ "name" : "/audio/is_listening"
+ },
+ {
+ "direction" : "in",
+ "name" : "/human_dialogue"
}
],
- "position" : [ 2280, 2660 ],
- "size" : [ 440, 138 ],
- "uuid" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44"
+ "position" : [ 7320, 880 ],
+ "size" : [ 440, 220 ],
+ "sub_architecture" : "8a919bc7-c80b-4325-ac63-d04f2fc1d6bb",
+ "uuid" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d"
},
{
"label" : "INRIA",
- "name" : "go_to_group_action_server",
+ "name" : "behavior_generator",
"ports" : [
{
"direction" : "in",
- "name" : "goal"
+ "name" : "/h/b/tracked"
},
{
"direction" : "out",
- "name" : "/go_towards [GoTowards]"
+ "name" : "tf: /final_point /nav_goal... "
},
{
- "direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
- }
- ],
- "position" : [ 7340, 1500 ],
- "size" : [ 271, 138 ],
- "sub_architecture" : "90d17edc-f200-49f6-adad-5100466d6703",
- "uuid" : "c0155b17-15f4-4d86-909b-433fe737cb5f"
- },
- {
- "label" : "HWU",
- "name" : "DEPENDENCY: social_scene_msgs",
- "position" : [ 4000, 3420 ],
- "size" : [ 280, 120 ],
- "sub_architecture" : "ed680a03-e715-423d-b567-001b19ca4840",
- "uuid" : "fdf1f034-d96a-4852-bb69-3934073e6708"
- },
- {
- "label" : "HWU",
- "name" : "DEPENDENCY: interaction_manager_msgs",
- "position" : [ 3280, 3420 ],
- "size" : [ 340, 120 ],
- "sub_architecture" : "269a1164-ad2d-488c-9b86-b4256faddf9f",
- "uuid" : "e4ad4076-7fa2-496d-b8ce-0d2c43eca484"
- },
- {
- "label" : "HWU",
- "name" : "ros_petri_net_node",
- "ports" : [
+ "direction" : "out",
+ "name" : "/head_controller/command [JointTrajectory]"
+ },
{
"direction" : "in",
- "name" : "/RPN [action server]"
- }
- ],
- "position" : [ 5680, 1180 ],
- "size" : [ 200, 120 ],
- "sub_architecture" : "d08a0f04-1e8d-4aa1-b71a-b3bf4597d4e2",
- "uuid" : "ed36231e-fb0f-45d5-8770-6f8c613f8ca4"
- },
- {
- "label" : "PAL",
- "name" : "DEPENDENCY: hri_msgs",
- "position" : [ 2380, 3420 ],
- "size" : [ 280, 120 ],
- "sub_architecture" : "7590c224-e846-4f1c-9ecb-0a2992568089",
- "uuid" : "b5076968-861b-43cb-8bd8-35a5fefebfe4"
- },
- {
- "label" : "INRIA",
- "name" : "go_to_body_action_server",
- "ports" : [
+ "name" : "/h/g/tracked"
+ },
{
"direction" : "out",
- "name" : "/go_towards [GoTowards]"
+ "name" : "/nav_vel [Twist]"
},
{
"direction" : "in",
- "name" : "goal"
+ "name" : "/joint_states"
},
{
"direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
- }
- ],
- "position" : [ 7340, 1660 ],
- "size" : [ 271, 138 ],
- "sub_architecture" : "afd60208-b9e3-47d6-91db-ff98641995c4",
- "uuid" : "2fb3e19c-7562-4c43-bd74-c043a5efec7c"
- },
- {
- "label" : "BIU",
- "name" : "riva_asr_0",
- "ports" : [
+ "name" : "tf: /group_*"
+ },
{
"direction" : "in",
- "name" : "/h/v/tracked [hri_msgs/IdsList]"
+ "name" : "/h/p/tracked"
+ },
+ {
+ "direction" : "in",
+ "name" : "/look_at [LookAt]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/go_towards [GoTowards]"
},
{
"direction" : "out",
- "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
+ "name" : "/controller_status"
},
{
"direction" : "in",
- "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
- }
- ],
- "position" : [ 4980, 480 ],
- "size" : [ 540, 169 ],
- "sub_architecture" : "11d2ee50-fd1e-4664-be3b-1a250ec7d758",
- "uuid" : "49998d33-7c64-4557-b1c9-56b241b59600"
- },
- {
- "label" : "HWU",
- "name" : "dialogue_say",
- "ports" : [
- {
- "direction" : "out",
- "name" : "/dialogue_say/text [String]"
+ "name" : "tf: /body_*"
},
{
"direction" : "in",
- "name" : "/dialogue_say/say [service]"
- },
- {
- "direction" : "out",
- "name" : "/tts/feedback"
- }
- ],
- "position" : [ 6720, 720 ],
- "size" : [ 280, 169 ],
- "sub_architecture" : "c854e5a0-2dbe-4eee-a79b-723d08083339",
- "uuid" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104"
- },
- {
- "label" : "BIU",
- "name" : "MOCK: speaker_extraction",
- "ports" : [
- {
- "direction" : "out",
- "name" : "/audio/doa* [std_msgs/Float32]"
+ "name" : "tf: /person_*"
},
{
"direction" : "in",
- "name" : "database of voice embeddings"
- },
- {
- "direction" : "out",
- "name" : "/audio/stream* [audio_common_msgs/AudioData]"
+ "name" : "/navigate [Navigate]"
},
{
"direction" : "in",
- "name" : "/audio/raw_audio [audio_common_msgs/AudioData]"
+ "name" : "/slam/local_map [OccupancyGrid]"
}
],
- "position" : [ 3220, 880 ],
- "size" : [ 1440, 180 ],
- "sub_architecture" : "9a662d15-0e9a-4d34-bf73-ab087206578f",
- "uuid" : "7439ab30-129c-4f3a-9886-149ba213c18c"
+ "position" : [ 7960, 1780 ],
+ "size" : [ 580, 510 ],
+ "sub_architecture" : "d5ec9783-4c4f-4652-a8bd-b786a1905f48",
+ "uuid" : "328fd73c-ead7-4b87-a815-401958fa77a2"
},
{
- "label" : "CVUT",
- "name" : "slam_rtabmap",
+ "label" : "INRIA",
+ "name" : "front_fisheye_body_tracker",
"ports" : [
{
"direction" : "out",
- "name" : "/slam/occupancy_map [OccupancyGrid]"
- },
- {
- "direction" : "in",
- "name" : "torso_front_camera/infra*/*"
- },
- {
- "direction" : "out",
- "name" : "tf: /odom"
- },
- {
- "direction" : "in",
- "name" : "/torso_front_camera/imu"
- },
- {
- "direction" : "out",
- "name" : "/robot_pose [geometry_msgs/PoseWithCovarianceStamped]"
+ "name" : "/h/b/*/cropped [sensor_msgs/Image]"
},
{
"direction" : "in",
- "name" : "[call HLoc to perform global localization]"
- }
- ],
- "position" : [ 1720, 2780 ],
- "size" : [ 436, 231 ],
- "sub_architecture" : "046d668f-a787-4753-ab2f-c2b04f922ad0",
- "uuid" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe"
- },
- {
- "label" : "UNITN",
- "name" : "MOCK: activity_recognition",
- "ports" : [
- {
- "direction" : "in",
- "name" : "/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]"
- },
- {
- "direction" : "out",
- "name" : "[?] output to be defined + added to hri_msgs if possible"
- }
- ],
- "position" : [ 3520, 2260 ],
- "size" : [ 520, 160 ],
- "sub_architecture" : "96cd31ae-5485-40db-8b27-b5a09888f810",
- "uuid" : "d715b004-7177-4001-bd9d-725e87789c94"
- },
- {
- "label" : "PAL",
- "name" : "torso_rgbd_camera",
- "ports" : [
- {
- "direction" : "out",
- "name" : "pointcloud"
+ "name" : "/front_camera_basetation/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]"
},
{
"direction" : "out",
- "name" : "torso_front_camera/infra*/*"
+ "name" : ""
},
{
"direction" : "out",
- "name" : "/torso_front_camera/imu"
+ "name" : "/tracker/tracker_output [std_msgs/String]"
},
{
"direction" : "out",
- "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
+ "name" : "/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
}
],
- "position" : [ 160, 1960 ],
- "size" : [ 432, 169 ],
- "sub_architecture" : "0ccd4f8f-abe0-4eae-9d35-d6af509364eb",
- "uuid" : "910781c7-928f-4445-a97b-6fbad208066f"
+ "position" : [ 1040, 1180 ],
+ "size" : [ 680, 200 ],
+ "sub_architecture" : "d0367ed7-2b45-4244-9507-538e7767127f",
+ "uuid" : "d609252f-2fd4-4439-86c3-ece9fd387a3a"
},
{
"label" : "PAL",
@@ -1382,10 +1280,6 @@
"direction" : "out",
"name" : "/updates"
},
- {
- "direction" : "in",
- "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
- },
{
"direction" : "out",
"name" : "/RPN [action]"
@@ -1394,6 +1288,10 @@
"direction" : "in",
"name" : "semantic scene description"
},
+ {
+ "direction" : "in",
+ "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
+ },
{
"direction" : "out",
"name" : "/register_server [service]"
@@ -1412,14 +1310,14 @@
"label" : "INRIA",
"name" : "look_at_person_server",
"ports" : [
- {
- "direction" : "in",
- "name" : "goal"
- },
{
"direction" : "out",
"name" : "/look_at [LookAt]"
},
+ {
+ "direction" : "in",
+ "name" : "goal"
+ },
{
"direction" : "in",
"name" : "/controller_status [ControllerStatus]"
@@ -1464,22 +1362,22 @@
"direction" : "out",
"name" : "/navigation goals"
},
- {
- "direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
- },
{
"direction" : "out",
"name" : "gestures"
},
{
"direction" : "in",
- "name" : "semantic scene description [ON HOLD]"
+ "name" : "/controller_status [ControllerStatus]"
},
{
"direction" : "in",
"name" : "input"
},
+ {
+ "direction" : "in",
+ "name" : "semantic scene description [ON HOLD]"
+ },
{
"direction" : "out",
"name" : "/task*_ros_server_action [action]"
@@ -1496,6 +1394,10 @@
"direction" : "out",
"name" : "/dialogue_start"
},
+ {
+ "direction" : "in",
+ "name" : "/dialogue_nlp/nlu [JSON String]"
+ },
{
"direction" : "in",
"name" : "/interaction_manager/update [service]"
@@ -1505,16 +1407,12 @@
"name" : "/interaction_manager/query [service]"
},
{
- "direction" : "in",
- "name" : "/dialogue_nlp/nlu [JSON String]"
+ "direction" : "out",
+ "name" : "/look_at goals"
},
{
"direction" : "in",
"name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
- },
- {
- "direction" : "out",
- "name" : "/look_at goals"
}
],
"position" : [ 6320, 1480 ],
@@ -1526,13 +1424,13 @@
"label" : "PAL",
"name" : "people_facts",
"ports" : [
- {
- "direction" : "in",
- "name" : "/h/p/..."
- },
{
"direction" : "out",
"name" : "/kb/add_fact [std_msgs/String]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/h/p/..."
}
],
"position" : [ 4660, 2020 ],
@@ -1546,7 +1444,7 @@
"ports" : [
{
"direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
+ "name" : "goal"
},
{
"direction" : "out",
@@ -1554,7 +1452,7 @@
},
{
"direction" : "in",
- "name" : "goal"
+ "name" : "/controller_status [ControllerStatus]"
}
],
"position" : [ 7340, 2140 ],
@@ -1608,10 +1506,6 @@
"direction" : "out",
"name" : "/yolact3d/detected_objects_distribution [yolact3d/Yolact3DObjects]"
},
- {
- "direction" : "in",
- "name" : "/torso_front_camera/aligned_depth_to_color [sensor_msgs/Image"
- },
{
"direction" : "in",
"name" : "tf"
@@ -1623,6 +1517,10 @@
{
"direction" : "in",
"name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/torso_front_camera/aligned_depth_to_color [sensor_msgs/Image"
}
],
"position" : [ 2580, 2900 ],
@@ -1737,793 +1635,810 @@
},
{
"label" : "BIU",
- "name" : "MOCK: Voice-body matching",
+ "name" : "riva_asr_1",
"ports" : [
{
- "direction" : "in",
- "name" : "/humans/bodies/tracked"
+ "direction" : "out",
+ "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
},
{
"direction" : "in",
- "name" : "/humans/voices/tracked"
+ "name" : "/h/v/tracked [hri_msgs/IdsList]"
},
{
"direction" : "in",
- "name" : "tf: /body_*"
- },
+ "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
+ }
+ ],
+ "position" : [ 4980, 660 ],
+ "size" : [ 540, 138 ],
+ "uuid" : "3ff4bbe5-0031-4fd1-af28-cd7bd92c0981"
+ },
+ {
+ "label" : "PAL",
+ "name" : "fisheye",
+ "ports" : [
{
"direction" : "out",
- "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
- },
- {
- "direction" : "in",
- "name" : "tf: /voice_*"
+ "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
}
],
- "position" : [ 3480, 1180 ],
- "size" : [ 498, 200 ],
- "sub_architecture" : "c5fafc14-fe29-4632-be64-aa233e6c72ee",
- "uuid" : "172516ca-a279-42a7-b515-ba2257887296"
+ "position" : [ 180, 1760 ],
+ "size" : [ 432, 120 ],
+ "sub_architecture" : "9acdd8b9-4805-4239-aec0-8db4d0977e64",
+ "uuid" : "409d9526-77ed-4ee3-bae9-ab48381e0b28"
},
{
- "label" : "INRIA",
- "name" : "group_detector",
+ "label" : "UNITN",
+ "name" : "soft_biometrics_estimator",
"ports" : [
{
- "direction" : "out",
- "name" : "/h/g/tracked [hri_msgs/IdList]"
+ "direction" : "in",
+ "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
},
{
"direction" : "out",
- "name" : "tf: /group_*"
+ "name" : "/humans/candidate_matches [hri_msgs/IdsMatch] [face reco]"
},
{
- "direction" : "in",
- "name" : "tf: /person_*"
+ "direction" : "out",
+ "name" : "/h/f/*/softbiometrics [hri_msgs/SoftBiometrics]"
},
{
"direction" : "in",
- "name" : "/h/p/tracked"
+ "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
},
{
- "direction" : "out",
- "name" : "/h/g/*/members [hri_msgs/IdList]"
+ "direction" : "in",
+ "name" : "/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
}
],
- "position" : [ 4540, 1140 ],
- "size" : [ 380, 200 ],
- "sub_architecture" : "ac9968c7-7626-4459-a7b3-ccbfaaac682c",
- "uuid" : "aa83a592-d631-44a2-bbaa-f812b8669bc7"
+ "position" : [ 2820, 1720 ],
+ "size" : [ 601, 200 ],
+ "sub_architecture" : "970d1105-d292-4308-b90f-8d8005a781eb",
+ "uuid" : "5e2b8998-87f5-46a0-b925-aa5ca3708b7e"
},
{
- "label" : "ERM",
- "name" : "experiment_exporter",
+ "label" : "INRIA",
+ "name" : "occupancy_map_republisher",
"ports" : [
{
- "direction" : "in",
- "name" : "/dialogue_say/text [String]"
- },
- {
- "direction" : "in",
- "name" : "/experiment_exporter/file_update [String]"
+ "direction" : "out",
+ "name" : "/slam/local_map [OccupancyGrid]"
},
{
"direction" : "in",
- "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
+ "name" : "/slam/occupancy_map [OccupancyGrid]"
},
{
"direction" : "in",
- "name" : "/experiment_exporter/error_feedback [String]"
+ "name" : "/slam/obstacle_map [OccupancyGrid]"
}
],
- "position" : [ 7340, 500 ],
- "size" : [ 456, 293 ],
- "sub_architecture" : "923f34e5-2023-4f02-985d-3e7f472b861f",
- "uuid" : "d4763e1f-4652-42ee-ae51-b4f2447f4d9a"
+ "position" : [ 2280, 2660 ],
+ "size" : [ 440, 138 ],
+ "uuid" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44"
},
{
- "label" : "UNITN",
- "name" : "face_tracker",
+ "label" : "INRIA",
+ "name" : "go_to_group_action_server",
"ports" : [
{
"direction" : "in",
- "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
- },
- {
- "direction" : "out",
- "name" : "/h/f/*/cropped [sensor_msg/Image]"
+ "name" : "goal"
},
{
"direction" : "out",
- "name" : "/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
+ "name" : "/go_towards [GoTowards]"
},
{
- "direction" : "out",
- "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
+ "direction" : "in",
+ "name" : "/controller_status [ControllerStatus]"
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- {
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- "name" : "/dialogue_say/say [service]"
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}
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"ports" : [
{
"direction" : "out",
- "name" : "/h/b/*/skeleton2d [hri_msg/Skeleton2D]"
+ "name" : "/go_towards [GoTowards]"
},
{
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+ "name" : "goal"
},
{
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}
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{
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{
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+ "name" : "/h/v/tracked [hri_msgs/IdsList]"
},
{
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+ "name" : "/h/v/*/speech [hri_msgs/LiveSpeech]"
+ },
+ {
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}
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{
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+ },
{
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+ "name" : "/dialogue_say/say [service]"
},
{
"direction" : "out",
- "name" : "/go_towards [GoTowards]"
- },
- {
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- "name" : "/controller_status [ControllerStatus]"
+ "name" : "/tts/feedback"
}
],
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},
{
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+ "name" : "MOCK: speaker_extraction",
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+ {
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+ "name" : "/audio/doa* [std_msgs/Float32]"
+ },
{
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- "name" : "/h/f/*/cropped [sensor_msg/Image]"
+ "name" : "database of voice embeddings"
},
{
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- "name" : "/h/f/*/expression [hri_msgs/Expression]"
+ "name" : "/audio/stream* [audio_common_msgs/AudioData]"
+ },
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+ "name" : "/audio/raw_audio [audio_common_msgs/AudioData]"
}
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},
{
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- "name" : "body_3d_tracker",
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+ "name" : "slam_rtabmap",
"ports" : [
{
"direction" : "out",
- "name" : "tf: /body_*"
+ "name" : "/slam/occupancy_map [OccupancyGrid]"
},
{
"direction" : "in",
- "name" : "/h/b/*/skeleton2d [hri_msg/Skeleton2D]"
+ "name" : "torso_front_camera/infra*/*"
+ },
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+ "name" : "tf: /odom"
},
{
"direction" : "in",
- "name" : "/tracker/tracker_output [std_msgs/String]"
+ "name" : "/torso_front_camera/imu"
},
{
"direction" : "out",
- "name" : "/humans/bodies/tracked [hri_msgs/IdsList]"
+ "name" : "/robot_pose [geometry_msgs/PoseWithCovarianceStamped]"
},
{
"direction" : "in",
- "name" : "/front_camera/fisheye/image_raw [sensor_msgs/Image]"
+ "name" : "[call HLoc to perform global localization]"
}
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},
{
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+ "name" : "MOCK: activity_recognition",
"ports" : [
+ {
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+ "name" : "/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]"
+ },
{
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- "name" : "/head_front_camera/color/image_raw [sensor_msgs/Image]"
+ "name" : "[?] output to be defined + added to hri_msgs if possible"
}
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},
{
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- "name" : "speakers_id",
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+ "name" : "torso_rgbd_camera",
"ports" : [
{
- "direction" : "in",
- "name" : "/humans/voices/speaker1/stream [audio_common_msgs/AudioData]"
+ "direction" : "out",
+ "name" : "pointcloud"
},
{
"direction" : "out",
- "name" : "tf: /voice_*"
+ "name" : "torso_front_camera/infra*/*"
},
{
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- "name" : "/audio/vad"
+ "name" : "/torso_front_camera/imu"
},
+ {
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+ "name" : "/torso_front_camera/color/image_raw [sensor_msgs/Image]"
+ }
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+ "name" : "MOCK: Voice-body matching",
+ "ports" : [
{
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- "name" : "/humans/voices/speaker1/doa [std_msgs/Float32]"
+ "name" : "/humans/bodies/tracked"
},
{
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- "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
+ "direction" : "in",
+ "name" : "/humans/voices/tracked"
},
{
"direction" : "in",
- "name" : "/humans/voices/speaker2/doa [std_msgs/Float32]"
+ "name" : "tf: /body_*"
},
{
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+ "direction" : "in",
+ "name" : "tf: /voice_*"
},
{
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- "name" : "/h/v/*/is_speaking [std_msgs/Bool]"
- },
+ "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
+ }
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{
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- "name" : "/humans/voices/speaker2/stream [audio_common_msgs/AudioData]"
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+ "name" : "/h/g/tracked [hri_msgs/IdList]"
},
{
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+ "name" : "tf: /group_*"
},
{
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- "name" : "/h/v/tracked [hri_msgs/IdsList]"
+ "direction" : "in",
+ "name" : "tf: /person_*"
},
{
"direction" : "in",
- "name" : "/audio/ego_audio [audio_common_msgs/AudioData]"
+ "name" : "/h/p/tracked"
},
{
"direction" : "out",
- "name" : "/audio/is_listening"
+ "name" : "/h/g/*/members [hri_msgs/IdList]"
}
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},
{
- "label" : "INRIA",
- "name" : "look_at_action_server",
+ "label" : "ERM",
+ "name" : "experiment_exporter",
"ports" : [
{
"direction" : "in",
- "name" : "goal"
+ "name" : "/dialogue_say/text [String]"
},
{
"direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
+ "name" : "/experiment_exporter/file_update [String]"
},
{
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- "name" : "knowledge_core",
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- {
- "direction" : "out",
- "name" : "service: /kb/query"
+ "direction" : "in",
+ "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
},
{
"direction" : "in",
- "name" : "/kb/add_fact [std_msgs/String]"
+ "name" : "/experiment_exporter/error_feedback [String]"
}
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},
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- "name" : "human_2d_pose_estimation",
+ "name" : "face_tracker",
"ports" : [
+ {
+ "direction" : "out",
+ "name" : "/h/f/*/cropped [sensor_msg/Image]"
+ },
{
"direction" : "in",
"name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
},
{
"direction" : "out",
- "name" : "/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]"
+ "name" : "/h/f/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/humans/faces/tracked [hri_msgs/IdsList]"
}
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},
{
"label" : "HWU",
- "name" : "social_state_analyzer",
+ "name" : "dialogue_arbitrer",
"ports" : [
{
"direction" : "out",
- "name" : "output?"
+ "name" : "/get_answer [service]"
},
{
"direction" : "in",
- "name" : "/humans/persons/tracked"
+ "name" : "/dialogue_arbitrer/update [service]"
},
{
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- },
- {
- "label" : "BIU",
- "name" : "speaker_separation",
- "ports" : [
+ "name" : "/dialogue_start [action server]"
+ },
{
- "direction" : "out",
- "name" : "/audio/speaker2/doa [std_msgs/Float32]"
+ "direction" : "in",
+ "name" : "/dialogue_arbitrer/query [service]"
},
{
"direction" : "out",
- "name" : "/audio/speaker1/stream [audio_common_msgs/AudioData]"
+ "name" : "/task*_ros_server_action [action]"
},
{
- "direction" : "out",
- "name" : "/audio/speaker1/doa [std_msgs/Float32]"
+ "direction" : "in",
+ "name" : "/register_server [service]"
},
{
"direction" : "out",
- "name" : "/audio/speaker2/stream [audio_common_msgs/AudioData]"
+ "name" : "/dialogue_say/say [service]"
},
{
"direction" : "in",
- "name" : "/audio/raw_audio [audio_common_msgs/AudioData]"
+ "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/human_dialogue"
}
],
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+ "uuid" : "9ab39362-e233-44d2-9d06-dd24694446f2"
},
{
- "label" : "UNITN",
- "name" : "gaze_estimation",
+ "label" : "PAL",
+ "name" : "DEPENDENCY: spring_msgs",
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+ "size" : [ 240, 120 ],
+ "sub_architecture" : "754b3165-805d-469a-b604-4dfef5453911",
+ "uuid" : "2e89a11f-a4b0-4b5e-8d72-975d8c47c7f7"
+ },
+ {
+ "label" : "INRIA",
+ "name" : "front_fisheye_2d_body_pose_detector",
"ports" : [
{
"direction" : "out",
- "name" : "GazeFrame [2D point in rgb frame]"
- },
- {
- "direction" : "in",
- "name" : "/depth_estimation [sensor_msgs/Image]"
+ "name" : "/h/b/*/skeleton2d [hri_msg/Skeleton2D]"
},
{
"direction" : "in",
- "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
+ "name" : "/front_camera/fisheye/image_raw [sensor_msgs/Image]"
},
{
"direction" : "in",
- "name" : "/h/f/*/roi [sensor_msgs/RegionOfInterest]"
+ "name" : "/tracker/tracker_output [std_msgs/String]"
}
],
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+ "uuid" : "9f0e4a90-79fb-4f15-b769-f539dd6ccc71"
},
{
"label" : "HWU",
- "name" : "DEPENDENCY: audio_msgs",
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- },
- {
- "label" : "PAL",
- "name" : "Robot functional layer",
+ "name" : "dialogue_nlp",
"ports" : [
{
"direction" : "in",
- "name" : "input"
+ "name" : "/get_answer [service]"
},
{
"direction" : "out",
- "name" : "/joint_states"
+ "name" : "/dialogue_nlp/nlu [JSON String]"
}
],
- "position" : [ 8780, 2120 ],
- "size" : [ 240, 120 ],
- "sub_architecture" : "69547d1d-f0ba-4ebf-b19b-f8cc5e63fd36",
- "uuid" : "20eb61ac-3243-41ed-b855-451cd88e4ae5"
+ "position" : [ 6620, 1220 ],
+ "size" : [ 280, 120 ],
+ "sub_architecture" : "f8c8f093-a1b2-4115-8526-089374b7c119",
+ "uuid" : "f845ee2c-4cb3-4cae-bde9-8ac2ba692ee7"
},
{
- "label" : "BIU",
- "name" : "audio_processing_mode",
+ "label" : "HWU",
+ "name" : "social_strategy_supervisor",
"ports" : [
{
"direction" : "out",
- "name" : "/audio/enh_audio [spring_msgs/RawAudioData]"
- },
- {
- "direction" : "in",
- "name" : "/audio/raw_audio [spring_msgs/RawAudioData]"
+ "name" : "output?"
}
],
- "position" : [ 3240, 100 ],
- "size" : [ 580, 260 ],
- "sub_architecture" : "703291ee-d2c9-4f3c-a94c-fb6030dd783e",
- "uuid" : "3cf3e598-266f-4c7b-bf1f-fd5cc48a7cd3"
+ "position" : [ 5640, 2000 ],
+ "size" : [ 200, 120 ],
+ "sub_architecture" : "02a6c7d9-b0e8-4b4c-a838-56a4990ca96c",
+ "uuid" : "a1d01235-a287-4e67-900b-d0e446924e2a"
},
{
"label" : "INRIA",
- "name" : "basestation_republisher",
+ "name" : "go_to_position_action_server",
"ports" : [
{
"direction" : "in",
- "name" : "/torso_front_camera/aligned_depth_to_color/image_raw/theora"
- },
- {
- "direction" : "in",
- "name" : "/front_camera/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]"
+ "name" : "goal"
},
{
"direction" : "out",
- "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
+ "name" : "/go_towards [GoTowards]"
},
{
- "direction" : "out",
- "name" : "/*_basestation/fisheye/... [sensor_msgs/Image]"
- },
+ "direction" : "in",
+ "name" : "/controller_status [ControllerStatus]"
+ }
+ ],
+ "position" : [ 7340, 1980 ],
+ "size" : [ 271, 138 ],
+ "sub_architecture" : "cc6bb1c2-c450-4e00-b0d8-b0f0d2048e04",
+ "uuid" : "b2cf0310-792d-4753-9e3d-243de1c81bbe"
+ },
+ {
+ "label" : "UNITN",
+ "name" : "emotion_estimation",
+ "ports" : [
{
"direction" : "in",
- "name" : "/torso_front_camera/color/image_raw/theora"
+ "name" : "/h/f/*/cropped [sensor_msg/Image]"
},
{
- "direction" : "in",
- "name" : "/head_front_camera/color/image_raw/compressed"
+ "direction" : "out",
+ "name" : "/h/f/*/expression [hri_msgs/Expression]"
}
],
- "position" : [ 780, 1680 ],
- "size" : [ 580, 260 ],
- "sub_architecture" : "4b6bafeb-e303-4f6b-a7db-cfa8b1fc5a23",
- "uuid" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3"
+ "position" : [ 4660, 1400 ],
+ "size" : [ 480, 180 ],
+ "sub_architecture" : "4beabc83-79c9-482d-8b56-d7f36ed58492",
+ "uuid" : "e9861836-caed-4c19-87e2-13ba1a380613"
},
{
- "label" : "ERM",
- "name" : "rosbridge_websocket",
+ "label" : "INRIA",
+ "name" : "body_3d_tracker",
"ports" : [
{
- "direction" : "in",
- "name" : "/tts/goal"
+ "direction" : "out",
+ "name" : "tf: /body_*"
},
{
"direction" : "in",
- "name" : "/tts/feedback"
+ "name" : "/h/b/*/skeleton2d [hri_msg/Skeleton2D]"
},
{
"direction" : "in",
- "name" : "/human_dialogue"
+ "name" : "/tracker/tracker_output [std_msgs/String]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/humans/bodies/tracked [hri_msgs/IdsList]"
},
{
"direction" : "in",
- "name" : "/audio/is_listening"
+ "name" : "/front_camera/fisheye/image_raw [sensor_msgs/Image]"
}
],
- "position" : [ 7320, 880 ],
- "size" : [ 440, 220 ],
- "sub_architecture" : "8a919bc7-c80b-4325-ac63-d04f2fc1d6bb",
- "uuid" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d"
+ "position" : [ 2540, 1240 ],
+ "size" : [ 460, 200 ],
+ "sub_architecture" : "f6ab2c5c-5c73-439c-9342-fb1bbb24b1da",
+ "uuid" : "c9b76975-8236-4440-8693-6756fef3990b"
},
{
- "label" : "INRIA",
- "name" : "behavior_generator",
+ "label" : "PAL",
+ "name" : "raspicam",
"ports" : [
{
"direction" : "out",
- "name" : "/head_controller/command [JointTrajectory]"
- },
+ "name" : "/head_front_camera/color/image_raw [sensor_msgs/Image]"
+ }
+ ],
+ "position" : [ 180, 2180 ],
+ "size" : [ 440, 120 ],
+ "sub_architecture" : "cf447604-0976-4fc3-ad4e-a135fa8ba454",
+ "uuid" : "a284bd3a-0273-4d81-89ce-bc8d042b2674"
+ },
+ {
+ "label" : "BIU",
+ "name" : "speakers_id",
+ "ports" : [
{
"direction" : "in",
- "name" : "/h/b/tracked"
+ "name" : "/humans/voices/speaker1/stream [audio_common_msgs/AudioData]"
},
{
"direction" : "out",
- "name" : "tf: /final_point /nav_goal... "
+ "name" : "tf: /voice_*"
},
{
- "direction" : "in",
- "name" : "/h/g/tracked"
+ "direction" : "out",
+ "name" : "/audio/vad"
},
{
"direction" : "out",
- "name" : "/nav_vel [Twist]"
+ "name" : "/h/v/known [hri_msgs/IdsList]"
},
{
- "direction" : "in",
- "name" : "/joint_states"
+ "direction" : "out",
+ "name" : "/h/v/*/is_speaking [std_msgs/Bool]"
},
{
"direction" : "in",
- "name" : "tf: /group_*"
+ "name" : "/humans/voices/speaker1/doa [std_msgs/Float32]"
},
{
- "direction" : "in",
- "name" : "/h/p/tracked"
+ "direction" : "out",
+ "name" : "/h/v/*/audio [audio_common_msgs/AudioData]"
},
{
"direction" : "in",
- "name" : "/look_at [LookAt]"
+ "name" : "/humans/voices/speaker2/doa [std_msgs/Float32]"
},
{
"direction" : "in",
- "name" : "/go_towards [GoTowards]"
+ "name" : "/humans/voices/speaker2/stream [audio_common_msgs/AudioData]"
},
{
"direction" : "out",
- "name" : "/controller_status"
- },
- {
- "direction" : "in",
- "name" : "tf: /body_*"
+ "name" : "/h/v/*/doa [std_msgs/Float32]"
},
{
- "direction" : "in",
- "name" : "tf: /person_*"
+ "direction" : "out",
+ "name" : "/h/v/tracked [hri_msgs/IdsList]"
},
{
- "direction" : "in",
- "name" : "/navigate [Navigate]"
+ "direction" : "out",
+ "name" : "/audio/is_listening"
},
{
"direction" : "in",
- "name" : "/slam/local_map [OccupancyGrid]"
+ "name" : "/audio/ego_audio [audio_common_msgs/AudioData]"
}
],
- "position" : [ 7960, 1780 ],
- "size" : [ 580, 510 ],
- "sub_architecture" : "d5ec9783-4c4f-4652-a8bd-b786a1905f48",
- "uuid" : "328fd73c-ead7-4b87-a815-401958fa77a2"
+ "position" : [ 3900, 400 ],
+ "size" : [ 760, 440 ],
+ "sub_architecture" : "77ebd1d1-7f1e-47b7-8a26-4328c95c817a",
+ "uuid" : "23a0d365-d60b-45d7-b229-a04bed5e41bb"
},
{
"label" : "INRIA",
- "name" : "front_fisheye_body_tracker",
+ "name" : "look_at_action_server",
"ports" : [
- {
- "direction" : "out",
- "name" : ""
- },
{
"direction" : "in",
- "name" : "/front_camera_basetation/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]"
- },
- {
- "direction" : "out",
- "name" : "/h/b/*/cropped [sensor_msgs/Image]"
+ "name" : "/controller_status [ControllerStatus]"
},
{
"direction" : "out",
- "name" : "/tracker/tracker_output [std_msgs/String]"
+ "name" : "/look_at [LookAt]"
},
{
- "direction" : "out",
- "name" : "/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
+ "direction" : "in",
+ "name" : "goal"
}
],
- "position" : [ 1040, 1180 ],
- "size" : [ 680, 200 ],
- "sub_architecture" : "d0367ed7-2b45-4244-9507-538e7767127f",
- "uuid" : "d609252f-2fd4-4439-86c3-ece9fd387a3a"
+ "position" : [ 7340, 2460 ],
+ "size" : [ 271, 138 ],
+ "sub_architecture" : "a5174b81-fea1-4d89-bfe5-7c909fcb134f",
+ "uuid" : "4d1289b0-8d15-4c6c-ba82-f4fb9c3f4f17"
},
{
- "label" : "Other",
- "name" : "Node",
+ "label" : "PAL",
+ "name" : "knowledge_core",
"ports" : [
{
"direction" : "out",
- "name" : "output"
+ "name" : "service: /kb/query"
},
{
"direction" : "in",
- "name" : "input"
+ "name" : "/kb/add_fact [std_msgs/String]"
}
],
- "position" : [ 0, 0 ],
- "size" : [ 8.9007028634375503e-308, 8.9007028634375503e-308 ],
- "uuid" : "343e1269-2326-4baa-b4a4-b949e27c9265"
+ "position" : [ 4960, 2100 ],
+ "size" : [ 350, 231 ],
+ "sub_architecture" : "15ec41b7-dcd6-4504-88c5-5eb6b80899f2",
+ "uuid" : "5a0113b6-a999-4339-8e21-44f3b8b3d693"
},
{
- "label" : "Other",
- "name" : "Node",
+ "label" : "UNITN",
+ "name" : "human_2d_pose_estimation",
"ports" : [
{
"direction" : "in",
- "name" : "input"
+ "name" : "/*_basestation/head_front_camera/... [sensor_msgs/Image]"
},
{
"direction" : "out",
- "name" : "output"
+ "name" : "/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]"
}
],
- "position" : [ 0, 0 ],
- "size" : [ 8.9007028634375503e-308, 8.9007028634375503e-308 ],
- "uuid" : "99181aa3-e8d0-45e5-97bd-226326bf8796"
+ "position" : [ 2860, 2160 ],
+ "size" : [ 520, 200 ],
+ "sub_architecture" : "6a63c8f2-ccf1-434f-807e-1c0570ccdbc4",
+ "uuid" : "49035386-4f22-41d7-a281-71dcc64592bc"
},
{
- "label" : "Other",
- "name" : "Node",
+ "label" : "HWU",
+ "name" : "social_state_analyzer",
"ports" : [
{
"direction" : "in",
- "name" : "input"
+ "name" : "kb"
},
{
"direction" : "out",
- "name" : "output"
+ "name" : "output?"
+ },
+ {
+ "direction" : "in",
+ "name" : "/humans/persons/tracked"
}
],
- "position" : [ 0, 0 ],
- "size" : [ 8.9007028634375503e-308, 8.9007028634375503e-308 ],
- "uuid" : "84e095b1-452f-47dd-8258-80ae7da7f446"
+ "position" : [ 5640, 1820 ],
+ "size" : [ 199, 138 ],
+ "sub_architecture" : "4f0b2a37-97ff-46ee-aff2-77001218ba31",
+ "uuid" : "3dc083e8-26cc-448f-ae1e-25263c9f066f"
},
{
- "label" : "Other",
- "name" : "Node",
+ "label" : "ERM",
+ "name" : "exp_gui",
"ports" : [
{
"direction" : "out",
- "name" : "output"
+ "name" : "/dialogue_start/goal [dialogue_msgs/StartDialogueActionGoal] "
},
{
"direction" : "in",
- "name" : "input"
- }
- ],
- "position" : [ 0, 0 ],
- "size" : [ 8.9007028634375503e-308, 8.9007028634375503e-308 ],
- "uuid" : "d6d4f7b7-688a-4cfe-9cc1-dd66ef87abec"
- },
- {
- "label" : "Other",
- "name" : "Node",
- "ports" : [
+ "name" : "/dialogue_start/status"
+ },
{
"direction" : "in",
- "name" : "input"
+ "name" : "/diagnostics"
+ },
+ {
+ "direction" : "out",
+ "name" : "/dialogue_arbiter/reset [Empty]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/interaction_manager/start [Empty]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/experiment_exporter/error_feedback [String]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/web/go_to [pal_web_msgs/WebGoTo]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/slam/localization_pose"
},
{
"direction" : "out",
- "name" : "output"
+ "name" : "/experiment_exporter/file_update [String]"
}
],
- "position" : [ 0, 0 ],
- "size" : [ 0, 1 ],
- "uuid" : "bd4ab4f7-ae8b-4db3-8ef0-9c03a7cd4653"
+ "position" : [ 6600, 160 ],
+ "size" : [ 580, 324 ],
+ "sub_architecture" : "68debd5e-9e7a-486c-a58e-d553009e0cb3",
+ "uuid" : "2a909616-5a85-49b8-aafb-37daaa76d48c"
}
],
"uuid" : "234f40f3-f9bb-4d69-8121-aec26ac8c228",