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Commit e84fe692 authored by Severin Lemaignan's avatar Severin Lemaignan
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update node names + repos based on all partners' feedback

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architecture.json
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{ {
"architectures" : [ "architectures" : [
{
"description" : "BRIEF:Assigns voices and audio stream, and publishes ROS4HRI-compatible ROS messages\nREPO:https://gitlab.inria.fr/spring/wp3_av_perception/audio_manager ",
"name" : "audio_arbitrer",
"uuid" : "ea6fd26b-e7b9-480d-bd29-b10a5ca580ec",
"version" : "0.0.1"
},
{ {
"description" : "BRIEF:Group detection (incl. f-formations)\nREPO:https://gitlab.inria.fr/spring/wp4_behavior/group_detector", "description" : "BRIEF:Group detection (incl. f-formations)\nREPO:https://gitlab.inria.fr/spring/wp4_behavior/group_detector",
"name" : "group_detector", "name" : "group_detector",
...@@ -7,7 +13,7 @@ ...@@ -7,7 +13,7 @@
"version" : "main" "version" : "main"
}, },
{ {
"description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git\nSUBFOLDER:robot_behaviour_plan_actions", "description" : "REPO:https://gitlab.inria.fr/spring/wp5_spoken_conversations/plan_actions.git\nSUBFOLDER:robot_behaviour_plan_actions",
"name" : "robot_behaviour_plan_actions", "name" : "robot_behaviour_plan_actions",
"uuid" : "9ff15583-a3c7-439b-a578-91ea4afac364", "uuid" : "9ff15583-a3c7-439b-a578-91ea4afac364",
"version" : "spring_dev" "version" : "spring_dev"
...@@ -25,7 +31,7 @@ ...@@ -25,7 +31,7 @@
"version" : "0.0.1" "version" : "0.0.1"
}, },
{ {
"description" : "Publishes a set of 3D points with the probability distribution of object classes at that point.\n\nETA: not clear yet.\n\nBRIEF:Object detection/identification/localisation\nREPO: git@gitlab.inria.fr:spring/wp2_mapping_localization/yolact3d.git", "description" : "Publishes a set of 3D points with the probability distribution of object classes at that point.\n\nETA: not clear yet.\n\nBRIEF:Object detection/identification/localisation\nREPO: https://gitlab.inria.fr/spring/wp2_mapping_localization/yolact3d.git",
"name" : "MOCK: Yolact3D", "name" : "MOCK: Yolact3D",
"uuid" : "cc914ac9-9aa0-4b00-8328-f9378e229ae9", "uuid" : "cc914ac9-9aa0-4b00-8328-f9378e229ae9",
"version" : "master" "version" : "master"
...@@ -37,13 +43,13 @@ ...@@ -37,13 +43,13 @@
"version" : "0.0.1" "version" : "0.0.1"
}, },
{ {
"description" : "BRIEF:Probabilistic fusion of faces, bodies, voices into persons\nREPO:git@gitlab.inria.fr:spring/wp7_ari/hri_person_manager.git", "description" : "BRIEF:Probabilistic fusion of faces, bodies, voices into persons\nREPO:https://gitlab.inria.fr/spring/wp7_ari/hri_person_manager.git",
"name" : "hri_person_manager", "name" : "hri_person_manager",
"uuid" : "1f5e18f3-1be0-4e21-a3e1-439a597fe002", "uuid" : "1f5e18f3-1be0-4e21-a3e1-439a597fe002",
"version" : "master" "version" : "master"
}, },
{ {
"description" : "BRIEF: Experiment_exporter is in charge of logging the experiment data.\nREPO:git@gitlab.inria.fr:spring/wp1_user_application/export-dialog.git", "description" : "BRIEF: Experiment_exporter is in charge of logging the experiment data.\nREPO:https://gitlab.inria.fr/spring/wp1_user_application/export-dialog.git",
"name" : "experiment_exporter", "name" : "experiment_exporter",
"uuid" : "923f34e5-2023-4f02-985d-3e7f472b861f", "uuid" : "923f34e5-2023-4f02-985d-3e7f472b861f",
"version" : "main" "version" : "main"
...@@ -61,7 +67,7 @@ ...@@ -61,7 +67,7 @@
"version" : "main" "version" : "main"
}, },
{ {
"description" : "BRIEF:None\n ", "description" : "BRIEF:Robot action server ('look at person' server)",
"name" : "look_at_person_server", "name" : "look_at_person_server",
"uuid" : "28912232-55a1-48ad-bb37-c99b7f1ad079", "uuid" : "28912232-55a1-48ad-bb37-c99b7f1ad079",
"version" : "0.0.1" "version" : "0.0.1"
...@@ -85,7 +91,7 @@ ...@@ -85,7 +91,7 @@
"version" : "0.0.1" "version" : "0.0.1"
}, },
{ {
"description" : "BRIEF: Voice embedding + speaker separation together (planned for Autumn 2023)", "description" : "BRIEF: Voice embedding + speaker separation together\nREPO:https://gitlab.inria.fr/spring/wp3_av_perception/1ch_speaker_extraction ",
"name" : "MOCK: speaker_extraction", "name" : "MOCK: speaker_extraction",
"uuid" : "9a662d15-0e9a-4d34-bf73-ab087206578f", "uuid" : "9a662d15-0e9a-4d34-bf73-ab087206578f",
"version" : "0.0.1" "version" : "0.0.1"
...@@ -97,13 +103,19 @@ ...@@ -97,13 +103,19 @@
"version" : "0.0.1" "version" : "0.0.1"
}, },
{ {
"description" : "BRIEF: Web server for the experimenter tablet\nREPO:git@gitlab.inria.fr:spring/wp1_user_application/exp-gui.git", "description" : "BRIEF: Web server for the experimenter tablet\nREPO:https://gitlab.inria.fr/spring/wp1_user_application/exp-gui.git",
"name" : "exp_gui", "name" : "exp_gui",
"uuid" : "68debd5e-9e7a-486c-a58e-d553009e0cb3", "uuid" : "68debd5e-9e7a-486c-a58e-d553009e0cb3",
"version" : "main" "version" : "main"
}, },
{ {
"description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git SUBFOLDER:dialogue_arbiter", "description" : "BRIEF:Detects presence of a facial mask\nREPO:https://gitlab.inria.fr/spring/wp4_behavior/mask-detection BIN:mask_detector.py",
"name" : "Mask detection",
"uuid" : "b343b3de-f4eb-412c-ae93-fca0f090ee5d",
"version" : "master"
},
{
"description" : "BRIEF:Dialogue arbitrer\nREPO:https://gitlab.inria.fr/spring/wp5_spoken_conversations/dialogue SUBFOLDER:dialogue_arbiter",
"name" : "dialogue arbiter", "name" : "dialogue arbiter",
"uuid" : "e2ee44b3-4f04-4a27-a947-525fae05035d", "uuid" : "e2ee44b3-4f04-4a27-a947-525fae05035d",
"version" : "main" "version" : "main"
...@@ -120,12 +132,6 @@ ...@@ -120,12 +132,6 @@
"uuid" : "4f0b2a37-97ff-46ee-aff2-77001218ba31", "uuid" : "4f0b2a37-97ff-46ee-aff2-77001218ba31",
"version" : "0.0.1" "version" : "0.0.1"
}, },
{
"description" : "Detects presence of a facial mask\nREPO:https://gitlab.inria.fr/spring/wp4_behavior/mask-detection BIN:mask_detector.py",
"name" : "Mask detection",
"uuid" : "b343b3de-f4eb-412c-ae93-fca0f090ee5d",
"version" : "master"
},
{ {
"description" : "Based on OpenPOSE\n\nBRIEF:2D skeleton estimator This node estimates the 2.5D (x,y,theta) pose of nearby persons.\nREPO:https://gitlab.inria.fr/spring/wp3_av_perception/front_fisheye_2d_body_pose_detector", "description" : "Based on OpenPOSE\n\nBRIEF:2D skeleton estimator This node estimates the 2.5D (x,y,theta) pose of nearby persons.\nREPO:https://gitlab.inria.fr/spring/wp3_av_perception/front_fisheye_2d_body_pose_detector",
"name" : "front_fisheye_2d_body_pose_detector", "name" : "front_fisheye_2d_body_pose_detector",
...@@ -133,13 +139,13 @@ ...@@ -133,13 +139,13 @@
"version" : "main" "version" : "main"
}, },
{ {
"description" : "BRIEF:Microphone array driver REPO:git@gitlab.inria.fr:spring/wp7_ari/respeaker_ros.git BIN:respeaker_multichan_node.py", "description" : "BRIEF:Microphone array driver REPO:https://gitlab.inria.fr/spring/wp7_ari/respeaker_ros.git BIN:respeaker_multichan_node.py",
"name" : "respeaker_ros", "name" : "respeaker_ros",
"uuid" : "b96ac6ba-08a0-4df0-8341-206c356f7c87", "uuid" : "b96ac6ba-08a0-4df0-8341-206c356f7c87",
"version" : "master" "version" : "master"
}, },
{ {
"description" : "Docker not yet published\n\nBRIEF:Global localization, service-based\nREPO:git@gitlab.inria.fr:spring/wp2_mapping_localization/hloc-mapping-localization.git", "description" : "Docker not yet published\n\nBRIEF:Global localization, service-based\nREPO:https://gitlab.inria.fr/spring/wp2_mapping_localization/hloc-mapping-localization.git",
"name" : "HLoc-ROS", "name" : "HLoc-ROS",
"uuid" : "11554e14-1e5a-41d0-8604-9f0a4365849b", "uuid" : "11554e14-1e5a-41d0-8604-9f0a4365849b",
"version" : "main" "version" : "main"
...@@ -151,31 +157,31 @@ ...@@ -151,31 +157,31 @@
"version" : "main" "version" : "main"
}, },
{ {
"description" : "BRIEF:Speech pre-processing (incl. end of speech detection) REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git SUBFOLDER:dialogue_speech", "description" : "BRIEF:Speech pre-processing (incl. end of speech detection)\nREPO:https://gitlab.inria.fr/spring/wp5_spoken_conversations/dialogue SUBFOLDER:dialogue_speech",
"name" : "dialogue_speech", "name" : "dialogue_speech",
"uuid" : "257fcacc-ff35-430b-b11f-efd376c496ce", "uuid" : "257fcacc-ff35-430b-b11f-efd376c496ce",
"version" : "master" "version" : "master"
}, },
{ {
"description" : "REPO:https://gitlab.inria.fr/spring/wp4_behavior/human-2d-pose-estimation", "description" : "BRIEF:2D skeleton extractor\nREPO:https://gitlab.inria.fr/spring/wp4_behavior/human-2d-pose-estimation",
"name" : "human-2d-pose-estimation", "name" : "human-2d-pose-estimation",
"uuid" : "6a63c8f2-ccf1-434f-807e-1c0570ccdbc4", "uuid" : "6a63c8f2-ccf1-434f-807e-1c0570ccdbc4",
"version" : "main" "version" : "main"
}, },
{ {
"description" : "slam_rtabmap is...", "description" : "BRIEF: RTABmap based SLAM\nREPO:https://gitlab.inria.fr/spring/wp2_mapping_localization/rtabmap-orbslam2",
"name" : "slam_rtabmap", "name" : "slam_rtabmap",
"uuid" : "046d668f-a787-4753-ab2f-c2b04f922ad0", "uuid" : "046d668f-a787-4753-ab2f-c2b04f922ad0",
"version" : "0.0.1" "version" : "0.0.1"
}, },
{ {
"description" : "BRIEF: proxy to robot's TTS action server for ERM convenience", "description" : "BRIEF: proxy to robot's TTS action server for ERM convenience\nREPO:https://gitlab.inria.fr/spring/wp5_spoken_conversations/dialogue SUBFOLDER:dialogue_say",
"name" : "dialogue_say", "name" : "dialogue_say",
"uuid" : "c854e5a0-2dbe-4eee-a79b-723d08083339", "uuid" : "c854e5a0-2dbe-4eee-a79b-723d08083339",
"version" : "main" "version" : "main"
}, },
{ {
"description" : "BRIEF: Robot tablet interface\nREPO:git@gitlab.inria.fr:spring/wp1_user_application/user_application.git", "description" : "BRIEF: Robot tablet interface\nREPO:https://gitlab.inria.fr/spring/wp1_user_application/user_application.git",
"name" : "MOCK: Robot GUI [tablet]", "name" : "MOCK: Robot GUI [tablet]",
"uuid" : "8a919bc7-c80b-4325-ac63-d04f2fc1d6bb", "uuid" : "8a919bc7-c80b-4325-ac63-d04f2fc1d6bb",
"version" : "master" "version" : "master"
...@@ -211,7 +217,7 @@ ...@@ -211,7 +217,7 @@
"version" : "0.0.1" "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/", "description" : "BRIEF:2D body detector and tracker, based on the FairMOT algorithm.\nREPO: https://gitlab.inria.fr/spring/wp3_av_perception/multi-person_visual_tracker/",
"name" : "FairMOT Multi-people body tracker", "name" : "FairMOT Multi-people body tracker",
"uuid" : "d0367ed7-2b45-4244-9507-538e7767127f", "uuid" : "d0367ed7-2b45-4244-9507-538e7767127f",
"version" : "devel" "version" : "devel"
...@@ -223,7 +229,7 @@ ...@@ -223,7 +229,7 @@
"version" : "BIU_dev" "version" : "BIU_dev"
}, },
{ {
"description" : "REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager", "description" : "REPO:https://gitlab.inria.fr/spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager",
"name" : "Interaction manager", "name" : "Interaction manager",
"uuid" : "b87a23ac-d223-4bac-b438-0b16e6e55270", "uuid" : "b87a23ac-d223-4bac-b438-0b16e6e55270",
"version" : "spring_dev" "version" : "spring_dev"
...@@ -247,7 +253,7 @@ ...@@ -247,7 +253,7 @@
"version" : "0.0.1" "version" : "0.0.1"
}, },
{ {
"description" : "BRIEF:Speaker identification based on voice embeddings\nREPO:git@gitlab.inria.fr:spring/wp4_behavior/non-integrated-contributions/speaker_identification.git", "description" : "BRIEF:Speaker identification based on voice embeddings\nREPO:https://gitlab.inria.fr/spring/wp4_behavior/non-integrated-contributions/speaker_identification",
"name" : "speakers_id", "name" : "speakers_id",
"uuid" : "77ebd1d1-7f1e-47b7-8a26-4328c95c817a", "uuid" : "77ebd1d1-7f1e-47b7-8a26-4328c95c817a",
"version" : "dual_speaker_ecapa" "version" : "dual_speaker_ecapa"
...@@ -259,7 +265,7 @@ ...@@ -259,7 +265,7 @@
"version" : "master" "version" : "master"
}, },
{ {
"description" : "BRIEF:Petrinet-based task planning\nros_petri_net_node is...", "description" : "BRIEF:Petrinet-based task planning\nREPO:https://gitlab.inria.fr/spring/wp5_spoken_conversations/ros_petri_net_planner",
"name" : "ros_petri_net_node", "name" : "ros_petri_net_node",
"uuid" : "d08a0f04-1e8d-4aa1-b71a-b3bf4597d4e2", "uuid" : "d08a0f04-1e8d-4aa1-b71a-b3bf4597d4e2",
"version" : "0.0.1" "version" : "0.0.1"
...@@ -277,19 +283,19 @@ ...@@ -277,19 +283,19 @@
"version" : "0.0.1" "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", "description" : "BRIEF:Detects age and gender\nREPO:https://gitlab.inria.fr/spring/wp4_behavior/wp4_behavior_understanding SUBFOLDER:wp4_people_characteristics BIN:soft_biometrics_estimator.py",
"name" : "Soft biometrics", "name" : "Soft biometrics",
"uuid" : "970d1105-d292-4308-b90f-8d8005a781eb", "uuid" : "970d1105-d292-4308-b90f-8d8005a781eb",
"version" : "master" "version" : "master"
}, },
{ {
"description" : "BRIEF:blind separation + VAD + enhancement\nREPO: git@gitlab.inria.fr:spring/wp3_av_perception/audio_separation.git", "description" : "BRIEF:blind separation + VAD + enhancement\nREPO: https://gitlab.inria.fr/spring/wp3_av_perception/audio_separation.git",
"name" : "speaker_separation", "name" : "speaker_separation",
"uuid" : "ded25e98-4132-4678-bef7-5d0945fdaf78", "uuid" : "ded25e98-4132-4678-bef7-5d0945fdaf78",
"version" : "main" "version" : "main"
}, },
{ {
"description" : "BRIEF:Robot action server ('look at person' action)\n ", "description" : "BRIEF:Robot action server ('look at location' action) ",
"name" : "look_at_position_action_server", "name" : "look_at_position_action_server",
"uuid" : "ba99bc77-6bde-403a-97f5-223132fb109a", "uuid" : "ba99bc77-6bde-403a-97f5-223132fb109a",
"version" : "0.0.1" "version" : "0.0.1"
...@@ -308,6 +314,18 @@ ...@@ -308,6 +314,18 @@
}, },
{ {
"connections" : [ "connections" : [
{
"from" : "9ab39362-e233-44d2-9d06-dd24694446f2:/human_dialogue",
"name" : "anonymous",
"to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/human_dialogue",
"uuid" : "5ea9b33c-4402-417f-ba0c-9cdf9d080442"
},
{
"from" : "a1d01235-a287-4e67-900b-d0e446924e2a:/go_to goals",
"name" : "anonymous",
"to" : "bf22a99b-3b6f-416c-b967-8b4df877a72e:goal",
"uuid" : "fa169bf9-73a2-440a-9b74-6c9243f0e849"
},
{ {
"from" : "fdc2f6fa-4c2c-44ae-9753-d422212a099b:count_active_speakers", "from" : "fdc2f6fa-4c2c-44ae-9753-d422212a099b:count_active_speakers",
"name" : "anonymous", "name" : "anonymous",
...@@ -326,12 +344,6 @@ ...@@ -326,12 +344,6 @@
"to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/head_front_camera/color/image_raw/compressed", "to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/head_front_camera/color/image_raw/compressed",
"uuid" : "1fb9d2e7-103a-4355-b2a9-dc3debc7be30" "uuid" : "1fb9d2e7-103a-4355-b2a9-dc3debc7be30"
}, },
{
"from" : "a1d01235-a287-4e67-900b-d0e446924e2a:output?",
"name" : "anonymous",
"to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:input",
"uuid" : "e0c6d3fc-5ee7-4ca7-a0a9-cf3ace272ace"
},
{ {
"from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/...", "from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/...",
"name" : "anonymous", "name" : "anonymous",
...@@ -404,18 +416,6 @@ ...@@ -404,18 +416,6 @@
"to" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:[call HLoc to perform global localization]", "to" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:[call HLoc to perform global localization]",
"uuid" : "580f1af2-ca26-4839-9c78-54ade7c3d508" "uuid" : "580f1af2-ca26-4839-9c78-54ade7c3d508"
}, },
{
"from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/look_at goals",
"name" : "anonymous",
"to" : "4d1289b0-8d15-4c6c-ba82-f4fb9c3f4f17:goal",
"uuid" : "ee13926e-e8a8-4dfb-a4c2-25cff58d2f0e"
},
{
"from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/look_at goals",
"name" : "anonymous",
"to" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6:goal",
"uuid" : "782a3dc0-ab15-46fd-b807-47205e93b52c"
},
{ {
"from" : "9a5658f1-943d-4889-8e2a-0735ee5de159:/look_at [LookAt]", "from" : "9a5658f1-943d-4889-8e2a-0735ee5de159:/look_at [LookAt]",
"name" : "anonymous", "name" : "anonymous",
...@@ -435,23 +435,11 @@ ...@@ -435,23 +435,11 @@
"uuid" : "1ef0d26e-d2bf-4fd0-8551-48caf5caa422" "uuid" : "1ef0d26e-d2bf-4fd0-8551-48caf5caa422"
}, },
{ {
"from" : "5a0113b6-a999-4339-8e21-44f3b8b3d693:service: /kb/query", "from" : "5a0113b6-a999-4339-8e21-44f3b8b3d693: /kb/query [service]",
"name" : "anonymous", "name" : "anonymous",
"to" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:kb", "to" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:/kb/query [service]",
"uuid" : "e5fa5fa4-fb7f-4ea7-8a49-de1002a814d9" "uuid" : "e5fa5fa4-fb7f-4ea7-8a49-de1002a814d9"
}, },
{
"from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/look_at goals",
"name" : "anonymous",
"to" : "9a5658f1-943d-4889-8e2a-0735ee5de159:goal",
"uuid" : "4ba10f1b-81be-46c5-8c9f-4071448fce1a"
},
{
"from" : "9ab39362-e233-44d2-9d06-dd24694446f2:/get_answer [service]",
"name" : "anonymous",
"to" : "f845ee2c-4cb3-4cae-bde9-8ac2ba692ee7:/get_answer [service]",
"uuid" : "492038a0-5169-4175-8684-4105c1b6a884"
},
{ {
"from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/tracker/tracker_output [std_msgs/String]", "from" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/tracker/tracker_output [std_msgs/String]",
"name" : "anonymous", "name" : "anonymous",
...@@ -470,24 +458,6 @@ ...@@ -470,24 +458,6 @@
"to" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/front_camera_basetation/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]", "to" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/front_camera_basetation/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]",
"uuid" : "21d49c6c-a6a8-49d5-9ab6-b166e461e189" "uuid" : "21d49c6c-a6a8-49d5-9ab6-b166e461e189"
}, },
{
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"name" : "anonymous",
"to" : "328fd73c-ead7-4b87-a815-401958fa77a2:/slam/local_map [OccupancyGrid]",
"uuid" : "56df27e4-afb2-47fa-94cc-39d91d888790"
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"uuid" : "0dc8a6db-327c-4d2d-9cbf-21d2463b0299"
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{
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"name" : "anonymous", "name" : "anonymous",
...@@ -518,12 +488,6 @@ ...@@ -518,12 +488,6 @@
"to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/controller_status [ControllerStatus]", "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/controller_status [ControllerStatus]",
"uuid" : "34a8a7dd-e143-45c5-bbcd-c0176684ad6c" "uuid" : "34a8a7dd-e143-45c5-bbcd-c0176684ad6c"
}, },
{
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"name" : "anonymous",
"to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/dialogue_say/text",
"uuid" : "8247d454-c373-4abb-98a7-665e10228244"
},
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"name" : "anonymous", "name" : "anonymous",
...@@ -539,7 +503,7 @@ ...@@ -539,7 +503,7 @@
{ {
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"name" : "anonymous", "name" : "anonymous",
"to" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:/humans/persons/tracked", "to" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:/h/p/tracked",
"uuid" : "ad7dd3e2-3743-4761-a1f7-2cbf3783df83" "uuid" : "ad7dd3e2-3743-4761-a1f7-2cbf3783df83"
}, },
{ {
...@@ -566,12 +530,6 @@ ...@@ -566,12 +530,6 @@
"to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]", "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]",
"uuid" : "beeedb50-f5a6-4096-823d-5d07afadd4ab" "uuid" : "beeedb50-f5a6-4096-823d-5d07afadd4ab"
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{ {
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"name" : "anonymous", "name" : "anonymous",
...@@ -602,12 +560,6 @@ ...@@ -602,12 +560,6 @@
"to" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44:/slam/occupancy_map [OccupancyGrid]", "to" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44:/slam/occupancy_map [OccupancyGrid]",
"uuid" : "1bed6e12-acfb-4ff4-a7f8-559ad7df5b2a" "uuid" : "1bed6e12-acfb-4ff4-a7f8-559ad7df5b2a"
}, },
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"name" : "anonymous", "name" : "anonymous",
...@@ -662,12 +614,6 @@ ...@@ -662,12 +614,6 @@
"to" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/humans/bodies/tracked [hri_msgs/IdsList]", "to" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/humans/bodies/tracked [hri_msgs/IdsList]",
"uuid" : "02c0b533-92ac-4444-9bc3-2f68adfd7e03" "uuid" : "02c0b533-92ac-4444-9bc3-2f68adfd7e03"
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"name" : "anonymous", "name" : "anonymous",
...@@ -704,24 +650,6 @@ ...@@ -704,24 +650,6 @@
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"uuid" : "ecc52c8a-709f-4434-9950-35a0259efa3e" "uuid" : "ecc52c8a-709f-4434-9950-35a0259efa3e"
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"name" : "anonymous",
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"uuid" : "1b666d89-6a0a-46bb-9b96-72e8a7cbe369"
},
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"name" : "anonymous",
"to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/human_dialogue",
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"name" : "anonymous", "name" : "anonymous",
...@@ -734,12 +662,6 @@ ...@@ -734,12 +662,6 @@
"to" : "35d5af59-53e3-466c-874d-89131352c403:/task*_ros_server_action [action]", "to" : "35d5af59-53e3-466c-874d-89131352c403:/task*_ros_server_action [action]",
"uuid" : "5de637dd-a0af-400e-9345-b60cd05be80d" "uuid" : "5de637dd-a0af-400e-9345-b60cd05be80d"
}, },
{
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"uuid" : "0979564c-6a2a-4599-a812-9b8645782d25"
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"name" : "anonymous", "name" : "anonymous",
...@@ -761,7 +683,7 @@ ...@@ -761,7 +683,7 @@
{ {
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"name" : "anonymous", "name" : "anonymous",
"to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_arbitrer/update [service]", "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_arbitrer/end_conv [service]",
"uuid" : "95706697-e67a-49c7-8da6-e8a11df6234a" "uuid" : "95706697-e67a-49c7-8da6-e8a11df6234a"
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...@@ -777,9 +699,9 @@ ...@@ -777,9 +699,9 @@
"uuid" : "32a45d48-e0c9-4be6-b445-585a3dc2874e" "uuid" : "32a45d48-e0c9-4be6-b445-585a3dc2874e"
}, },
{ {
"from" : "f845ee2c-4cb3-4cae-bde9-8ac2ba692ee7:/dialogue_nlp/nlu [JSON String]", "from" : "f845ee2c-4cb3-4cae-bde9-8ac2ba692ee7:/nlp_node/nlu [JSON String]",
"name" : "anonymous", "name" : "anonymous",
"to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/dialogue_nlp/nlu [JSON String]", "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/nlp_node/nlu [JSON String]",
"uuid" : "b580306a-877f-45cd-883c-caafbac903b0" "uuid" : "b580306a-877f-45cd-883c-caafbac903b0"
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...@@ -801,7 +723,7 @@ ...@@ -801,7 +723,7 @@
"uuid" : "71002a47-5413-4c8b-9210-e987982437d8" "uuid" : "71002a47-5413-4c8b-9210-e987982437d8"
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{ {
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"name" : "anonymous", "name" : "anonymous",
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...@@ -836,12 +758,6 @@ ...@@ -836,12 +758,6 @@
"to" : "4fbd8427-4d9f-4087-9a30-e7df1c1f69e7:/depth_estimation [sensor_msgs/Image]", "to" : "4fbd8427-4d9f-4087-9a30-e7df1c1f69e7:/depth_estimation [sensor_msgs/Image]",
"uuid" : "4467cb9d-d3fe-465e-a25a-d1fbd0ccd936" "uuid" : "4467cb9d-d3fe-465e-a25a-d1fbd0ccd936"
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"name" : "anonymous", "name" : "anonymous",
...@@ -943,6 +859,114 @@ ...@@ -943,6 +859,114 @@
"name" : "anonymous", "name" : "anonymous",
"to" : "172516ca-a279-42a7-b515-ba2257887296:tf: /voice_*", "to" : "172516ca-a279-42a7-b515-ba2257887296:tf: /voice_*",
"uuid" : "30a3321b-0981-4b60-afd4-608a493fe037" "uuid" : "30a3321b-0981-4b60-afd4-608a493fe037"
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} }
], ],
"description" : "EU H2020 SPRING -- D7.5: Final Software Architecture", "description" : "EU H2020 SPRING -- D7.5: Final Software Architecture",
...@@ -979,6 +1003,7 @@ ...@@ -979,6 +1003,7 @@
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{ {
...@@ -1006,7 +1031,7 @@ ...@@ -1006,7 +1031,7 @@
"name" : "tf: /person_*" "name" : "tf: /person_*"
} }
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...@@ -1048,7 +1073,7 @@ ...@@ -1048,7 +1073,7 @@
"name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]" "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
} }
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...@@ -1078,7 +1103,7 @@ ...@@ -1078,7 +1103,7 @@
"name" : "/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]" "name" : "/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
} }
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...@@ -1105,14 +1130,14 @@ ...@@ -1105,14 +1130,14 @@
"label" : "CVUT", "label" : "CVUT",
"name" : "Yolact3D [future]", "name" : "Yolact3D [future]",
"ports" : [ "ports" : [
{
"direction" : "in",
"name" : "/slam/occupancy_map [OccupancyGrid]"
},
{ {
"direction" : "out", "direction" : "out",
"name" : "/yolact3d/detected_objects_distribution [yolact3d/Yolact3DObjects]" "name" : "/yolact3d/detected_objects_distribution [yolact3d/Yolact3DObjects]"
}, },
{
"direction" : "in",
"name" : "/slam/occupancy_map [OccupancyGrid]"
},
{ {
"direction" : "in", "direction" : "in",
"name" : "tf" "name" : "tf"
...@@ -1204,7 +1229,7 @@ ...@@ -1204,7 +1229,7 @@
"name" : "/experiment_exporter/error_feedback [String]" "name" : "/experiment_exporter/error_feedback [String]"
} }
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...@@ -1220,9 +1245,13 @@ ...@@ -1220,9 +1245,13 @@
{ {
"direction" : "out", "direction" : "out",
"name" : "/joint_states" "name" : "/joint_states"
},
{
"direction" : "in",
"name" : "/tts [action_server]"
} }
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"uuid" : "20eb61ac-3243-41ed-b855-451cd88e4ae5" "uuid" : "20eb61ac-3243-41ed-b855-451cd88e4ae5"
...@@ -1262,7 +1291,7 @@ ...@@ -1262,7 +1291,7 @@
"name" : "/controller_status [ControllerStatus]" "name" : "/controller_status [ControllerStatus]"
} }
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...@@ -1284,7 +1313,7 @@ ...@@ -1284,7 +1313,7 @@
"name" : "/controller_status [ControllerStatus]" "name" : "/controller_status [ControllerStatus]"
} }
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...@@ -1306,7 +1335,7 @@ ...@@ -1306,7 +1335,7 @@
"name" : "/controller_status [ControllerStatus]" "name" : "/controller_status [ControllerStatus]"
} }
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"uuid" : "4d1289b0-8d15-4c6c-ba82-f4fb9c3f4f17" "uuid" : "4d1289b0-8d15-4c6c-ba82-f4fb9c3f4f17"
...@@ -1361,11 +1390,23 @@ ...@@ -1361,11 +1390,23 @@
"ports" : [ "ports" : [
{ {
"direction" : "out", "direction" : "out",
"name" : "output?" "name" : "/look_at goals"
},
{
"direction" : "out",
"name" : "/go_to goals"
},
{
"direction" : "in",
"name" : "/social_state_analyser/state [std_msgs/String]"
},
{
"direction" : "in",
"name" : "/social_strategy_supervisor_server [action_server]"
} }
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}, },
...@@ -1401,6 +1442,10 @@ ...@@ -1401,6 +1442,10 @@
"direction" : "in", "direction" : "in",
"name" : "/slam/localization_pose" "name" : "/slam/localization_pose"
}, },
{
"direction" : "out",
"name" : "/speech/speed"
},
{ {
"direction" : "out", "direction" : "out",
"name" : "/experiment_exporter/error_feedback [String]" "name" : "/experiment_exporter/error_feedback [String]"
...@@ -1410,54 +1455,76 @@ ...@@ -1410,54 +1455,76 @@
"name" : "/experiment_exporter/file_update [String]" "name" : "/experiment_exporter/file_update [String]"
} }
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}, },
{
"label" : "UNITN",
"name" : "mask_detector",
"ports" : [
{
"direction" : "in",
"name" : "/h/f/*/cropped [sensor_msg/Image]"
},
{
"direction" : "out",
"name" : "/h/f/*/has_mask [wp4_msgs/FaceMask]"
}
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"uuid" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a"
},
{ {
"label" : "HWU", "label" : "HWU",
"name" : "dialogue_arbitrer", "name" : "dialogue_arbitrer",
"ports" : [ "ports" : [
{ {
"direction" : "out", "direction" : "out",
"name" : "/human_dialogue" "name" : "/nlp_node/get_answer [service]"
}, },
{ {
"direction" : "in", "direction" : "in",
"name" : "/dialogue_arbitrer/update [service]" "name" : "/dialogue_start [action server]"
}, },
{ {
"direction" : "in", "direction" : "out",
"name" : "/dialogue_start [action server]" "name" : "/dialogue_start/status"
}, },
{ {
"direction" : "in", "direction" : "in",
"name" : "/dialogue_arbitrer/query [service]" "name" : "/dialogue_arbitrer/end_conv [service]"
}, },
{ {
"direction" : "out", "direction" : "out",
"name" : "/task*_ros_server_action [action]" "name" : "/dialogue_start/feedback"
}, },
{ {
"direction" : "in", "direction" : "out",
"name" : "/register_server [service]" "name" : "/human_dialogue"
}, },
{ {
"direction" : "out", "direction" : "out",
"name" : "/get_answer [service]" "name" : "/dialogue_say/say [service]"
}, },
{ {
"direction" : "out", "direction" : "out",
"name" : "/dialogue_say/say [service]" "name" : "/RPN [action]"
},
{
"direction" : "out",
"name" : "/task*_ros_server_action [action]"
}, },
{ {
"direction" : "in", "direction" : "in",
"name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]" "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
} }
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"sub_architecture" : "e2ee44b3-4f04-4a27-a947-525fae05035d", "sub_architecture" : "e2ee44b3-4f04-4a27-a947-525fae05035d",
"uuid" : "9ab39362-e233-44d2-9d06-dd24694446f2" "uuid" : "9ab39362-e233-44d2-9d06-dd24694446f2"
}, },
...@@ -1465,13 +1532,13 @@ ...@@ -1465,13 +1532,13 @@
"label" : "UNITN", "label" : "UNITN",
"name" : "activity_recognition [future]", "name" : "activity_recognition [future]",
"ports" : [ "ports" : [
{
"direction" : "in",
"name" : "/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]"
},
{ {
"direction" : "out", "direction" : "out",
"name" : "[?] output to be defined + added to hri_msgs if possible" "name" : "[?] output to be defined + added to hri_msgs if possible"
},
{
"direction" : "in",
"name" : "/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]"
} }
], ],
"position" : [ 4000, 2780 ], "position" : [ 4000, 2780 ],
...@@ -1501,44 +1568,50 @@ ...@@ -1501,44 +1568,50 @@
"name" : "social_state_analyzer", "name" : "social_state_analyzer",
"ports" : [ "ports" : [
{ {
"direction" : "out", "direction" : "in",
"name" : "output?" "name" : "/h/p/tracked"
}, },
{ {
"direction" : "in", "direction" : "in",
"name" : "/humans/persons/tracked" "name" : "/kb/query [service]"
}, },
{ {
"direction" : "in", "direction" : "in",
"name" : "kb" "name" : "/h/p/*"
} },
], {
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"size" : [ 740, 147 ], "name" : "/h/b/tracked"
"sub_architecture" : "4f0b2a37-97ff-46ee-aff2-77001218ba31", },
"uuid" : "3dc083e8-26cc-448f-ae1e-25263c9f066f" {
}, "direction" : "in",
{ "name" : "/h/b/*"
"label" : "UNITN", },
"name" : "mask_detector", {
"ports" : [ "direction" : "in",
"name" : "/h/f/*"
},
{ {
"direction" : "out", "direction" : "out",
"name" : "/h/f/*/has_mask [wp4_msgs/FaceMask]" "name" : "/social_state_analyser/state [std_msgs/String]"
}, },
{ {
"direction" : "in", "direction" : "in",
"name" : "/h/f/*/cropped [sensor_msg/Image]" "name" : "/social_state_analyzer_server [action_server]"
},
{
"direction" : "in",
"name" : "/h/f/tracked"
} }
], ],
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"sub_architecture" : "b343b3de-f4eb-412c-ae93-fca0f090ee5d", "sub_architecture" : "4f0b2a37-97ff-46ee-aff2-77001218ba31",
"uuid" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a" "uuid" : "3dc083e8-26cc-448f-ae1e-25263c9f066f"
}, },
{ {
"label" : "INRIA", "label" : "INRIA",
"name" : "front_fisheye_2d_body_pose_detector", "name" : "front_fisheye_2d_body_pose_detector_op",
"ports" : [ "ports" : [
{ {
"direction" : "out", "direction" : "out",
...@@ -1554,7 +1627,7 @@ ...@@ -1554,7 +1627,7 @@
} }
], ],
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"uuid" : "9f0e4a90-79fb-4f15-b769-f539dd6ccc71" "uuid" : "9f0e4a90-79fb-4f15-b769-f539dd6ccc71"
}, },
...@@ -1631,10 +1704,14 @@ ...@@ -1631,10 +1704,14 @@
{ {
"direction" : "out", "direction" : "out",
"name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]" "name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
},
{
"direction" : "in",
"name" : "/social_state_analyser/state [std_msgs/String]"
} }
], ],
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}, },
...@@ -1694,6 +1771,10 @@ ...@@ -1694,6 +1771,10 @@
"label" : "HWU", "label" : "HWU",
"name" : "dialogue_say", "name" : "dialogue_say",
"ports" : [ "ports" : [
{
"direction" : "out",
"name" : "/dialogue_say/text [String]"
},
{ {
"direction" : "in", "direction" : "in",
"name" : "/dialogue_say/say [service]" "name" : "/dialogue_say/say [service]"
...@@ -1702,13 +1783,21 @@ ...@@ -1702,13 +1783,21 @@
"direction" : "out", "direction" : "out",
"name" : "/tts/feedback" "name" : "/tts/feedback"
}, },
{
"direction" : "in",
"name" : "/speech/speed"
},
{
"direction" : "in",
"name" : "/tts/status"
},
{ {
"direction" : "out", "direction" : "out",
"name" : "/dialogue_say/text [String]" "name" : "/tts [action_server]"
} }
], ],
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"uuid" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104" "uuid" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104"
}, },
...@@ -1716,10 +1805,6 @@ ...@@ -1716,10 +1805,6 @@
"label" : "ERM", "label" : "ERM",
"name" : "robot gui", "name" : "robot gui",
"ports" : [ "ports" : [
{
"direction" : "in",
"name" : "/dialogue_say/text"
},
{ {
"direction" : "in", "direction" : "in",
"name" : "/tts/feedback" "name" : "/tts/feedback"
...@@ -1733,7 +1818,7 @@ ...@@ -1733,7 +1818,7 @@
"name" : "/audio/is_listening" "name" : "/audio/is_listening"
} }
], ],
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...@@ -1786,7 +1871,7 @@ ...@@ -1786,7 +1871,7 @@
"name" : "/kb/add_fact [std_msgs/String]" "name" : "/kb/add_fact [std_msgs/String]"
} }
], ],
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"uuid" : "8dc55dfc-0215-44a1-9795-9255c328b198" "uuid" : "8dc55dfc-0215-44a1-9795-9255c328b198"
...@@ -1801,17 +1886,17 @@ ...@@ -1801,17 +1886,17 @@
}, },
{ {
"direction" : "out", "direction" : "out",
"name" : "service: /kb/query" "name" : " /kb/query [service]"
} }
], ],
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"uuid" : "5a0113b6-a999-4339-8e21-44f3b8b3d693" "uuid" : "5a0113b6-a999-4339-8e21-44f3b8b3d693"
}, },
{ {
"label" : "INRIA", "label" : "INRIA",
"name" : "behavior_generator", "name" : "social_mpc",
"ports" : [ "ports" : [
{ {
"direction" : "in", "direction" : "in",
...@@ -1874,7 +1959,7 @@ ...@@ -1874,7 +1959,7 @@
"name" : "/head_controller/command [JointTrajectory]" "name" : "/head_controller/command [JointTrajectory]"
} }
], ],
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"size" : [ 580, 1120 ], "size" : [ 580, 1120 ],
"sub_architecture" : "d5ec9783-4c4f-4652-a8bd-b786a1905f48", "sub_architecture" : "d5ec9783-4c4f-4652-a8bd-b786a1905f48",
"uuid" : "328fd73c-ead7-4b87-a815-401958fa77a2" "uuid" : "328fd73c-ead7-4b87-a815-401958fa77a2"
...@@ -1895,7 +1980,7 @@ ...@@ -1895,7 +1980,7 @@
}, },
{ {
"label" : "INRIA", "label" : "INRIA",
"name" : "front_fisheye_body_tracker", "name" : "front_fisheye_2d_body_tracker",
"ports" : [ "ports" : [
{ {
"direction" : "out", "direction" : "out",
...@@ -1918,8 +2003,8 @@ ...@@ -1918,8 +2003,8 @@
"name" : "/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]" "name" : "/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
} }
], ],
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"sub_architecture" : "d0367ed7-2b45-4244-9507-538e7767127f", "sub_architecture" : "d0367ed7-2b45-4244-9507-538e7767127f",
"uuid" : "d609252f-2fd4-4439-86c3-ece9fd387a3a" "uuid" : "d609252f-2fd4-4439-86c3-ece9fd387a3a"
}, },
...@@ -1959,7 +2044,7 @@ ...@@ -1959,7 +2044,7 @@
}, },
{ {
"direction" : "in", "direction" : "in",
"name" : "/dialogue_nlp/nlu [JSON String]" "name" : "/nlp_node/nlu [JSON String]"
}, },
{ {
"direction" : "out", "direction" : "out",
...@@ -1969,6 +2054,18 @@ ...@@ -1969,6 +2054,18 @@
"direction" : "out", "direction" : "out",
"name" : "/look_at goals" "name" : "/look_at goals"
}, },
{
"direction" : "out",
"name" : "gestures"
},
{
"direction" : "in",
"name" : "input"
},
{
"direction" : "in",
"name" : "/register_server [service]"
},
{ {
"direction" : "in", "direction" : "in",
"name" : "/interaction_manager/update [service]" "name" : "/interaction_manager/update [service]"
...@@ -1979,55 +2076,59 @@ ...@@ -1979,55 +2076,59 @@
}, },
{ {
"direction" : "out", "direction" : "out",
"name" : "gestures" "name" : "/RPN [action]"
}, },
{ {
"direction" : "in", "direction" : "in",
"name" : "input" "name" : "/dialogue_start/feedback"
}, },
{ {
"direction" : "in", "direction" : "in",
"name" : "/register_server [service]" "name" : "/controller_status [ControllerStatus]"
}, },
{ {
"direction" : "in", "direction" : "in",
"name" : "/controller_status [ControllerStatus]" "name" : "semantic scene description [ON HOLD]"
}, },
{ {
"direction" : "in", "direction" : "in",
"name" : "semantic scene description [ON HOLD]" "name" : "/dialogue_start/status"
}, },
{ {
"direction" : "in", "direction" : "in",
"name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]" "name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
},
{
"direction" : "out",
"name" : "/social_strategy_supervisor_server/goal"
} }
], ],
"position" : [ 6720, 1600 ], "position" : [ 6260, 1500 ],
"size" : [ 1140, 600 ], "size" : [ 860, 561 ],
"sub_architecture" : "b87a23ac-d223-4bac-b438-0b16e6e55270", "sub_architecture" : "b87a23ac-d223-4bac-b438-0b16e6e55270",
"uuid" : "bc526a14-c5aa-466e-ba5b-30a78b14d672" "uuid" : "bc526a14-c5aa-466e-ba5b-30a78b14d672"
}, },
{ {
"label" : "HWU", "label" : "HWU",
"name" : "dialogue_nlp", "name" : "nlp_node",
"ports" : [ "ports" : [
{ {
"direction" : "in", "direction" : "in",
"name" : "/get_answer [service]" "name" : "/nlp_node/get_answer [service]"
}, },
{ {
"direction" : "out", "direction" : "out",
"name" : "/dialogue_nlp/nlu [JSON String]" "name" : "/nlp_node/nlu [JSON String]"
} }
], ],
"position" : [ 6500, 540 ], "position" : [ 6540, 860 ],
"size" : [ 520, 120 ], "size" : [ 520, 160 ],
"sub_architecture" : "f8c8f093-a1b2-4115-8526-089374b7c119", "sub_architecture" : "f8c8f093-a1b2-4115-8526-089374b7c119",
"uuid" : "f845ee2c-4cb3-4cae-bde9-8ac2ba692ee7" "uuid" : "f845ee2c-4cb3-4cae-bde9-8ac2ba692ee7"
}, },
{ {
"label" : "INRIA", "label" : "INRIA",
"name" : "voice_body_matching", "name" : "voicebodycandidatematches",
"ports" : [ "ports" : [
{ {
"direction" : "in", "direction" : "in",
...@@ -2035,22 +2136,22 @@ ...@@ -2035,22 +2136,22 @@
}, },
{ {
"direction" : "in", "direction" : "in",
"name" : "tf: /body_*" "name" : "tf: /voice_*"
}, },
{ {
"direction" : "in", "direction" : "in",
"name" : "tf: /voice_*" "name" : "/humans/bodies/tracked"
}, },
{ {
"direction" : "in", "direction" : "in",
"name" : "/humans/bodies/tracked" "name" : "tf: /body_*"
}, },
{ {
"direction" : "out", "direction" : "out",
"name" : "/humans/candidate_matches [hri_msgs/IdsMatch]" "name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
} }
], ],
"position" : [ 3840, 1240 ], "position" : [ 3820, 1320 ],
"size" : [ 740, 240 ], "size" : [ 740, 240 ],
"sub_architecture" : "c5fafc14-fe29-4632-be64-aa233e6c72ee", "sub_architecture" : "c5fafc14-fe29-4632-be64-aa233e6c72ee",
"uuid" : "172516ca-a279-42a7-b515-ba2257887296" "uuid" : "172516ca-a279-42a7-b515-ba2257887296"
...@@ -2072,7 +2173,7 @@ ...@@ -2072,7 +2173,7 @@
"name" : "/controller_status [ControllerStatus]" "name" : "/controller_status [ControllerStatus]"
} }
], ],
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"size" : [ 780, 147 ], "size" : [ 780, 147 ],
"sub_architecture" : "cc6bb1c2-c450-4e00-b0d8-b0f0d2048e04", "sub_architecture" : "cc6bb1c2-c450-4e00-b0d8-b0f0d2048e04",
"uuid" : "b2cf0310-792d-4753-9e3d-243de1c81bbe" "uuid" : "b2cf0310-792d-4753-9e3d-243de1c81bbe"
...@@ -2146,7 +2247,7 @@ ...@@ -2146,7 +2247,7 @@
"name" : "/RPN [action server]" "name" : "/RPN [action server]"
} }
], ],
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"size" : [ 520, 120 ], "size" : [ 520, 120 ],
"sub_architecture" : "d08a0f04-1e8d-4aa1-b71a-b3bf4597d4e2", "sub_architecture" : "d08a0f04-1e8d-4aa1-b71a-b3bf4597d4e2",
"uuid" : "ed36231e-fb0f-45d5-8770-6f8c613f8ca4" "uuid" : "ed36231e-fb0f-45d5-8770-6f8c613f8ca4"
...@@ -2168,7 +2269,7 @@ ...@@ -2168,7 +2269,7 @@
"name" : "/controller_status [ControllerStatus]" "name" : "/controller_status [ControllerStatus]"
} }
], ],
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"size" : [ 780, 147 ], "size" : [ 780, 147 ],
"sub_architecture" : "90d17edc-f200-49f6-adad-5100466d6703", "sub_architecture" : "90d17edc-f200-49f6-adad-5100466d6703",
"uuid" : "c0155b17-15f4-4d86-909b-433fe737cb5f" "uuid" : "c0155b17-15f4-4d86-909b-433fe737cb5f"
...@@ -2190,7 +2291,7 @@ ...@@ -2190,7 +2291,7 @@
"name" : "/controller_status [ControllerStatus]" "name" : "/controller_status [ControllerStatus]"
} }
], ],
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"size" : [ 780, 147 ], "size" : [ 780, 147 ],
"sub_architecture" : "8877ac09-dcf3-4f4b-9462-d7948759a3a3", "sub_architecture" : "8877ac09-dcf3-4f4b-9462-d7948759a3a3",
"uuid" : "bf22a99b-3b6f-416c-b967-8b4df877a72e" "uuid" : "bf22a99b-3b6f-416c-b967-8b4df877a72e"
...@@ -2229,13 +2330,13 @@ ...@@ -2229,13 +2330,13 @@
"label" : "BIU", "label" : "BIU",
"name" : "speaker_separation", "name" : "speaker_separation",
"ports" : [ "ports" : [
{
"direction" : "out",
"name" : "streams"
},
{ {
"direction" : "in", "direction" : "in",
"name" : "/audio/raw_audio" "name" : "/audio/raw_audio"
},
{
"direction" : "out",
"name" : "streams"
} }
], ],
"position" : [ 1420, 580 ], "position" : [ 1420, 580 ],
...@@ -2260,7 +2361,7 @@ ...@@ -2260,7 +2361,7 @@
"name" : "/controller_status [ControllerStatus]" "name" : "/controller_status [ControllerStatus]"
} }
], ],
"position" : [ 8080, 2000 ], "position" : [ 8460, 2100 ],
"size" : [ 780, 147 ], "size" : [ 780, 147 ],
"sub_architecture" : "ba99bc77-6bde-403a-97f5-223132fb109a", "sub_architecture" : "ba99bc77-6bde-403a-97f5-223132fb109a",
"uuid" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6" "uuid" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6"
...@@ -2316,7 +2417,7 @@ ...@@ -2316,7 +2417,7 @@
"name" : "/humans/bodies/tracked [hri_msgs/IdsList]" "name" : "/humans/bodies/tracked [hri_msgs/IdsList]"
} }
], ],
"position" : [ 3220, 1620 ], "position" : [ 3280, 1580 ],
"size" : [ 460, 200 ], "size" : [ 460, 200 ],
"sub_architecture" : "f6ab2c5c-5c73-439c-9342-fb1bbb24b1da", "sub_architecture" : "f6ab2c5c-5c73-439c-9342-fb1bbb24b1da",
"uuid" : "c9b76975-8236-4440-8693-6756fef3990b" "uuid" : "c9b76975-8236-4440-8693-6756fef3990b"
...@@ -2325,13 +2426,13 @@ ...@@ -2325,13 +2426,13 @@
"label" : "BIU", "label" : "BIU",
"name" : "CSD", "name" : "CSD",
"ports" : [ "ports" : [
{
"direction" : "in",
"name" : "/audio/raw_audio"
},
{ {
"direction" : "out", "direction" : "out",
"name" : "count_active_speakers" "name" : "count_active_speakers"
},
{
"direction" : "in",
"name" : "/audio/raw_audio"
} }
], ],
"position" : [ 1420, 900 ], "position" : [ 1420, 900 ],
...@@ -2340,7 +2441,7 @@ ...@@ -2340,7 +2441,7 @@
} }
], ],
"uuid" : "234f40f3-f9bb-4d69-8121-aec26ac8c228", "uuid" : "234f40f3-f9bb-4d69-8121-aec26ac8c228",
"version" : "2.1.0" "version" : "2.2.0"
} }
], ],
"root" : "234f40f3-f9bb-4d69-8121-aec26ac8c228" "root" : "234f40f3-f9bb-4d69-8121-aec26ac8c228"
......
spring-architecture.md
+ 350
− 480
View file @ e84fe692
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