diff --git a/architecture.json b/architecture.json
index 40fb0f6ee903fdf25e73be432bc0143809fbf6dd..b34517b6388d7e61be339ddccee75f8306e9cf21 100644
--- a/architecture.json
+++ b/architecture.json
@@ -1,5 +1,11 @@
{
"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",
"name" : "group_detector",
@@ -7,7 +13,7 @@
"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",
"uuid" : "9ff15583-a3c7-439b-a578-91ea4afac364",
"version" : "spring_dev"
@@ -25,7 +31,7 @@
"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",
"uuid" : "cc914ac9-9aa0-4b00-8328-f9378e229ae9",
"version" : "master"
@@ -37,13 +43,13 @@
"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",
"uuid" : "1f5e18f3-1be0-4e21-a3e1-439a597fe002",
"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",
"uuid" : "923f34e5-2023-4f02-985d-3e7f472b861f",
"version" : "main"
@@ -61,7 +67,7 @@
"version" : "main"
},
{
- "description" : "BRIEF:None\n ",
+ "description" : "BRIEF:Robot action server ('look at person' server)",
"name" : "look_at_person_server",
"uuid" : "28912232-55a1-48ad-bb37-c99b7f1ad079",
"version" : "0.0.1"
@@ -85,7 +91,7 @@
"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",
"uuid" : "9a662d15-0e9a-4d34-bf73-ab087206578f",
"version" : "0.0.1"
@@ -97,13 +103,19 @@
"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",
"uuid" : "68debd5e-9e7a-486c-a58e-d553009e0cb3",
"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",
"uuid" : "e2ee44b3-4f04-4a27-a947-525fae05035d",
"version" : "main"
@@ -120,12 +132,6 @@
"uuid" : "4f0b2a37-97ff-46ee-aff2-77001218ba31",
"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",
"name" : "front_fisheye_2d_body_pose_detector",
@@ -133,13 +139,13 @@
"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",
"uuid" : "b96ac6ba-08a0-4df0-8341-206c356f7c87",
"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",
"uuid" : "11554e14-1e5a-41d0-8604-9f0a4365849b",
"version" : "main"
@@ -151,31 +157,31 @@
"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",
"uuid" : "257fcacc-ff35-430b-b11f-efd376c496ce",
"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",
"uuid" : "6a63c8f2-ccf1-434f-807e-1c0570ccdbc4",
"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",
"uuid" : "046d668f-a787-4753-ab2f-c2b04f922ad0",
"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",
"uuid" : "c854e5a0-2dbe-4eee-a79b-723d08083339",
"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]",
"uuid" : "8a919bc7-c80b-4325-ac63-d04f2fc1d6bb",
"version" : "master"
@@ -211,7 +217,7 @@
"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",
"uuid" : "d0367ed7-2b45-4244-9507-538e7767127f",
"version" : "devel"
@@ -223,7 +229,7 @@
"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",
"uuid" : "b87a23ac-d223-4bac-b438-0b16e6e55270",
"version" : "spring_dev"
@@ -247,7 +253,7 @@
"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",
"uuid" : "77ebd1d1-7f1e-47b7-8a26-4328c95c817a",
"version" : "dual_speaker_ecapa"
@@ -259,7 +265,7 @@
"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",
"uuid" : "d08a0f04-1e8d-4aa1-b71a-b3bf4597d4e2",
"version" : "0.0.1"
@@ -277,19 +283,19 @@
"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",
"uuid" : "970d1105-d292-4308-b90f-8d8005a781eb",
"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",
"uuid" : "ded25e98-4132-4678-bef7-5d0945fdaf78",
"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",
"uuid" : "ba99bc77-6bde-403a-97f5-223132fb109a",
"version" : "0.0.1"
@@ -308,6 +314,18 @@
},
{
"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",
"name" : "anonymous",
@@ -326,12 +344,6 @@
"to" : "8f9f7162-2588-4dd6-bb86-eb1a373c84e3:/head_front_camera/color/image_raw/compressed",
"uuid" : "1fb9d2e7-103a-4355-b2a9-dc3debc7be30"
},
- {
- "from" : "a1d01235-a287-4e67-900b-d0e446924e2a:output?",
- "name" : "anonymous",
- "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:input",
- "uuid" : "e0c6d3fc-5ee7-4ca7-a0a9-cf3ace272ace"
- },
{
"from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/...",
"name" : "anonymous",
@@ -404,18 +416,6 @@
"to" : "f03dc60a-ef44-497f-a679-0dfbb8b4edfe:[call HLoc to perform global localization]",
"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]",
"name" : "anonymous",
@@ -435,23 +435,11 @@
"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",
- "to" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:kb",
+ "to" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:/kb/query [service]",
"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]",
"name" : "anonymous",
@@ -470,24 +458,6 @@
"to" : "d609252f-2fd4-4439-86c3-ece9fd387a3a:/front_camera_basetation/fisheye/image_raw/compressed [sensor_msgs/CompressedImage]",
"uuid" : "21d49c6c-a6a8-49d5-9ab6-b166e461e189"
},
- {
- "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" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/navigation goals",
- "name" : "anonymous",
- "to" : "b2cf0310-792d-4753-9e3d-243de1c81bbe:goal",
- "uuid" : "0dc8a6db-327c-4d2d-9cbf-21d2463b0299"
- },
- {
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/navigation goals",
- "name" : "anonymous",
- "to" : "c0155b17-15f4-4d86-909b-433fe737cb5f:goal",
- "uuid" : "f209f60a-c45d-4653-bf06-3427432f6cbf"
- },
{
"from" : "35d5af59-53e3-466c-874d-89131352c403:/queries",
"name" : "anonymous",
@@ -518,12 +488,6 @@
"to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/controller_status [ControllerStatus]",
"uuid" : "34a8a7dd-e143-45c5-bbcd-c0176684ad6c"
},
- {
- "from" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:/dialogue_say/text [String]",
- "name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/dialogue_say/text",
- "uuid" : "8247d454-c373-4abb-98a7-665e10228244"
- },
{
"from" : "c9b76975-8236-4440-8693-6756fef3990b:tf: /body_*",
"name" : "anonymous",
@@ -539,7 +503,7 @@
{
"from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/tracked [hri_msgs/IdsList]",
"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"
},
{
@@ -566,12 +530,6 @@
"to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]",
"uuid" : "beeedb50-f5a6-4096-823d-5d07afadd4ab"
},
- {
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:/task*_ros_server_action [action]",
- "name" : "anonymous",
- "to" : "35d5af59-53e3-466c-874d-89131352c403:/task*_ros_server_action [action]",
- "uuid" : "4fbf5aeb-0cec-4f04-9fbf-20ecb50a6477"
- },
{
"from" : "43da963c-18a8-4ad7-86f6-f361a9d25d36:/h/p/...",
"name" : "anonymous",
@@ -602,12 +560,6 @@
"to" : "8fd4ba9a-45c1-404b-abd5-1e209f46cd44:/slam/occupancy_map [OccupancyGrid]",
"uuid" : "1bed6e12-acfb-4ff4-a7f8-559ad7df5b2a"
},
- {
- "from" : "35d5af59-53e3-466c-874d-89131352c403:/queries",
- "name" : "anonymous",
- "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_arbitrer/query [service]",
- "uuid" : "06375299-1ca4-45db-9866-d73f5a7dda00"
- },
{
"from" : "4ab8dffd-1bd5-48c0-8660-9f3bd3313c90:/humans/faces/tracked [hri_msgs/IdsList]",
"name" : "anonymous",
@@ -662,12 +614,6 @@
"to" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8:/humans/bodies/tracked [hri_msgs/IdsList]",
"uuid" : "02c0b533-92ac-4444-9bc3-2f68adfd7e03"
},
- {
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/navigation goals",
- "name" : "anonymous",
- "to" : "bf22a99b-3b6f-416c-b967-8b4df877a72e:goal",
- "uuid" : "bbea410d-c31f-43f1-8d37-d7c753dbe7b9"
- },
{
"from" : "3e7d7601-34c6-4975-9e36-f50968f141b2:/audio/raw_audio [audio_common_msgs/AudioData]",
"name" : "anonymous",
@@ -704,24 +650,6 @@
"to" : "d4763e1f-4652-42ee-ae51-b4f2447f4d9a:/experiment_exporter/error_feedback [String]",
"uuid" : "ecc52c8a-709f-4434-9950-35a0259efa3e"
},
- {
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_say/say [service]",
- "name" : "anonymous",
- "to" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:/dialogue_say/say [service]",
- "uuid" : "ae98c50b-a41f-4255-b27e-50c79777a35e"
- },
- {
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:gestures",
- "name" : "anonymous",
- "to" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:input",
- "uuid" : "1b666d89-6a0a-46bb-9b96-72e8a7cbe369"
- },
- {
- "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:/human_dialogue",
- "name" : "anonymous",
- "to" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d:/human_dialogue",
- "uuid" : "8036c6aa-b132-4290-8c32-3981c2821af5"
- },
{
"from" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:/joint_states",
"name" : "anonymous",
@@ -734,12 +662,6 @@
"to" : "35d5af59-53e3-466c-874d-89131352c403:/task*_ros_server_action [action]",
"uuid" : "5de637dd-a0af-400e-9345-b60cd05be80d"
},
- {
- "from" : "35d5af59-53e3-466c-874d-89131352c403:/register_server [service]",
- "name" : "anonymous",
- "to" : "9ab39362-e233-44d2-9d06-dd24694446f2:/register_server [service]",
- "uuid" : "0979564c-6a2a-4599-a812-9b8645782d25"
- },
{
"from" : "35d5af59-53e3-466c-874d-89131352c403:/register_server [service]",
"name" : "anonymous",
@@ -761,7 +683,7 @@
{
"from" : "35d5af59-53e3-466c-874d-89131352c403:/updates",
"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"
},
{
@@ -777,9 +699,9 @@
"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",
- "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"
},
{
@@ -801,7 +723,7 @@
"uuid" : "71002a47-5413-4c8b-9210-e987982437d8"
},
{
- "from" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:output?",
+ "from" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:/social_state_analyser/state [std_msgs/String]",
"name" : "anonymous",
"to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:input",
"uuid" : "c6e06c4e-d9bb-44ca-927d-05258e028480"
@@ -836,12 +758,6 @@
"to" : "4fbd8427-4d9f-4087-9a30-e7df1c1f69e7:/depth_estimation [sensor_msgs/Image]",
"uuid" : "4467cb9d-d3fe-465e-a25a-d1fbd0ccd936"
},
- {
- "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/navigation goals",
- "name" : "anonymous",
- "to" : "2fb3e19c-7562-4c43-bd74-c043a5efec7c:goal",
- "uuid" : "4f26cca8-7e89-4e50-afad-6039844c7466"
- },
{
"from" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6:/navigate [Navigate]",
"name" : "anonymous",
@@ -943,6 +859,114 @@
"name" : "anonymous",
"to" : "172516ca-a279-42a7-b515-ba2257887296:tf: /voice_*",
"uuid" : "30a3321b-0981-4b60-afd4-608a493fe037"
+ },
+ {
+ "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_say/say [service]",
+ "name" : "anonymous",
+ "to" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:/dialogue_say/say [service]",
+ "uuid" : "33ac6793-6536-40cd-81b9-bcd47e74989f"
+ },
+ {
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/social_strategy_supervisor_server/goal",
+ "name" : "anonymous",
+ "to" : "a1d01235-a287-4e67-900b-d0e446924e2a:/social_strategy_supervisor_server [action_server]",
+ "uuid" : "bcefba8a-4db0-498d-b6b1-bafb49cb8928"
+ },
+ {
+ "from" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/RPN [action]",
+ "name" : "anonymous",
+ "to" : "ed36231e-fb0f-45d5-8770-6f8c613f8ca4:/RPN [action server]",
+ "uuid" : "f49341cd-7dd6-4f48-b87b-3386f9c1b68c"
+ },
+ {
+ "from" : "a1d01235-a287-4e67-900b-d0e446924e2a:/go_to goals",
+ "name" : "anonymous",
+ "to" : "c0155b17-15f4-4d86-909b-433fe737cb5f:goal",
+ "uuid" : "6ac231f3-c76e-4c91-8f1f-f20c167b7e6b"
+ },
+ {
+ "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:/RPN [action]",
+ "name" : "anonymous",
+ "to" : "ed36231e-fb0f-45d5-8770-6f8c613f8ca4:/RPN [action server]",
+ "uuid" : "8c2218b2-3833-41ca-b580-4ba7bfcf43da"
+ },
+ {
+ "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_start/status",
+ "name" : "anonymous",
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/dialogue_start/status",
+ "uuid" : "b10c3d4a-f155-4921-ac5f-d96ca792227a"
+ },
+ {
+ "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:/dialogue_start/feedback",
+ "name" : "anonymous",
+ "to" : "bc526a14-c5aa-466e-ba5b-30a78b14d672:/dialogue_start/feedback",
+ "uuid" : "4a9c2d31-4ee8-40f0-9136-fdc49af8f6b4"
+ },
+ {
+ "from" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:/social_state_analyser/state [std_msgs/String]",
+ "name" : "anonymous",
+ "to" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3:/social_state_analyser/state [std_msgs/String]",
+ "uuid" : "e9f667cc-0300-419c-89fb-4fad39081269"
+ },
+ {
+ "from" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:/tts [action_server]",
+ "name" : "anonymous",
+ "to" : "20eb61ac-3243-41ed-b855-451cd88e4ae5:/tts [action_server]",
+ "uuid" : "5fe9569c-80d1-49e9-8576-0e48d3ea1ba8"
+ },
+ {
+ "from" : "3dc083e8-26cc-448f-ae1e-25263c9f066f:/social_state_analyser/state [std_msgs/String]",
+ "name" : "anonymous",
+ "to" : "a1d01235-a287-4e67-900b-d0e446924e2a:/social_state_analyser/state [std_msgs/String]",
+ "uuid" : "34be0d11-4789-4a2e-8ee7-72e52112d812"
+ },
+ {
+ "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:/nlp_node/get_answer [service]",
+ "name" : "anonymous",
+ "to" : "f845ee2c-4cb3-4cae-bde9-8ac2ba692ee7:/nlp_node/get_answer [service]",
+ "uuid" : "b015cf59-9dd7-43bf-b2b4-af0caa20a87a"
+ },
+ {
+ "from" : "2a909616-5a85-49b8-aafb-37daaa76d48c:/speech/speed",
+ "name" : "anonymous",
+ "to" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104:/speech/speed",
+ "uuid" : "1c6b0a93-d9da-429e-ba00-a3c411afbae6"
+ },
+ {
+ "from" : "a1d01235-a287-4e67-900b-d0e446924e2a:/look_at goals",
+ "name" : "anonymous",
+ "to" : "4d1289b0-8d15-4c6c-ba82-f4fb9c3f4f17:goal",
+ "uuid" : "24fca9b3-577e-4296-b752-7b372eed6b6e"
+ },
+ {
+ "from" : "9ab39362-e233-44d2-9d06-dd24694446f2:/task*_ros_server_action [action]",
+ "name" : "anonymous",
+ "to" : "35d5af59-53e3-466c-874d-89131352c403:/task*_ros_server_action [action]",
+ "uuid" : "86c34623-1488-4f65-92ae-6d5bc04c989a"
+ },
+ {
+ "from" : "a1d01235-a287-4e67-900b-d0e446924e2a:/look_at goals",
+ "name" : "anonymous",
+ "to" : "9a5658f1-943d-4889-8e2a-0735ee5de159:goal",
+ "uuid" : "20938664-5ec7-48c9-9db1-dfd867c77921"
+ },
+ {
+ "from" : "a1d01235-a287-4e67-900b-d0e446924e2a:/look_at goals",
+ "name" : "anonymous",
+ "to" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6:goal",
+ "uuid" : "b3ef3eb9-31c4-4e17-8a0c-af090b133815"
+ },
+ {
+ "from" : "a1d01235-a287-4e67-900b-d0e446924e2a:/go_to goals",
+ "name" : "anonymous",
+ "to" : "2fb3e19c-7562-4c43-bd74-c043a5efec7c:goal",
+ "uuid" : "6b52e7e8-6aae-49f6-9731-602291996820"
+ },
+ {
+ "from" : "a1d01235-a287-4e67-900b-d0e446924e2a:/go_to goals",
+ "name" : "anonymous",
+ "to" : "b2cf0310-792d-4753-9e3d-243de1c81bbe:goal",
+ "uuid" : "592cab90-52ef-4128-af9f-6d7f2870439a"
}
],
"description" : "EU H2020 SPRING -- D7.5: Final Software Architecture",
@@ -979,6 +1003,7 @@
],
"position" : [ 3200, 280 ],
"size" : [ 420, 740 ],
+ "sub_architecture" : "ea6fd26b-e7b9-480d-bd29-b10a5ca580ec",
"uuid" : "30cd9b16-1d15-497d-ba05-5c578e71f694"
},
{
@@ -1006,7 +1031,7 @@
"name" : "tf: /person_*"
}
],
- "position" : [ 6980, 2520 ],
+ "position" : [ 8640, 2760 ],
"size" : [ 520, 239 ],
"sub_architecture" : "ac9968c7-7626-4459-a7b3-ccbfaaac682c",
"uuid" : "aa83a592-d631-44a2-bbaa-f812b8669bc7"
@@ -1048,7 +1073,7 @@
"name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
}
],
- "position" : [ 5580, 880 ],
+ "position" : [ 5100, 1240 ],
"size" : [ 680, 260 ],
"sub_architecture" : "9ff15583-a3c7-439b-a578-91ea4afac364",
"uuid" : "35d5af59-53e3-466c-874d-89131352c403"
@@ -1078,7 +1103,7 @@
"name" : "/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
}
],
- "position" : [ 3780, 1780 ],
+ "position" : [ 3880, 1740 ],
"size" : [ 580, 239 ],
"sub_architecture" : "4bd1bc1e-a5e1-4db9-9f83-e80c15e56e08",
"uuid" : "681e5e72-c0e1-4238-92e0-7baca42e9ae8"
@@ -1105,14 +1130,14 @@
"label" : "CVUT",
"name" : "Yolact3D [future]",
"ports" : [
- {
- "direction" : "in",
- "name" : "/slam/occupancy_map [OccupancyGrid]"
- },
{
"direction" : "out",
"name" : "/yolact3d/detected_objects_distribution [yolact3d/Yolact3DObjects]"
},
+ {
+ "direction" : "in",
+ "name" : "/slam/occupancy_map [OccupancyGrid]"
+ },
{
"direction" : "in",
"name" : "tf"
@@ -1204,7 +1229,7 @@
"name" : "/experiment_exporter/error_feedback [String]"
}
],
- "position" : [ 8060, 40 ],
+ "position" : [ 9320, 1060 ],
"size" : [ 620, 240 ],
"sub_architecture" : "923f34e5-2023-4f02-985d-3e7f472b861f",
"uuid" : "d4763e1f-4652-42ee-ae51-b4f2447f4d9a"
@@ -1220,9 +1245,13 @@
{
"direction" : "out",
"name" : "/joint_states"
+ },
+ {
+ "direction" : "in",
+ "name" : "/tts [action_server]"
}
],
- "position" : [ 9720, 1360 ],
+ "position" : [ 10100, 1460 ],
"size" : [ 560, 1120 ],
"sub_architecture" : "69547d1d-f0ba-4ebf-b19b-f8cc5e63fd36",
"uuid" : "20eb61ac-3243-41ed-b855-451cd88e4ae5"
@@ -1262,7 +1291,7 @@
"name" : "/controller_status [ControllerStatus]"
}
],
- "position" : [ 8080, 2160 ],
+ "position" : [ 8460, 2260 ],
"size" : [ 780, 147 ],
"sub_architecture" : "28912232-55a1-48ad-bb37-c99b7f1ad079",
"uuid" : "9a5658f1-943d-4889-8e2a-0735ee5de159"
@@ -1284,7 +1313,7 @@
"name" : "/controller_status [ControllerStatus]"
}
],
- "position" : [ 8080, 1520 ],
+ "position" : [ 8460, 1620 ],
"size" : [ 780, 147 ],
"sub_architecture" : "afd60208-b9e3-47d6-91db-ff98641995c4",
"uuid" : "2fb3e19c-7562-4c43-bd74-c043a5efec7c"
@@ -1306,7 +1335,7 @@
"name" : "/controller_status [ControllerStatus]"
}
],
- "position" : [ 8080, 2320 ],
+ "position" : [ 8460, 2420 ],
"size" : [ 780, 160 ],
"sub_architecture" : "a5174b81-fea1-4d89-bfe5-7c909fcb134f",
"uuid" : "4d1289b0-8d15-4c6c-ba82-f4fb9c3f4f17"
@@ -1361,11 +1390,23 @@
"ports" : [
{
"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]"
}
],
- "position" : [ 5700, 1700 ],
- "size" : [ 740, 120 ],
+ "position" : [ 7480, 1920 ],
+ "size" : [ 720, 200 ],
"sub_architecture" : "02a6c7d9-b0e8-4b4c-a838-56a4990ca96c",
"uuid" : "a1d01235-a287-4e67-900b-d0e446924e2a"
},
@@ -1401,6 +1442,10 @@
"direction" : "in",
"name" : "/slam/localization_pose"
},
+ {
+ "direction" : "out",
+ "name" : "/speech/speed"
+ },
{
"direction" : "out",
"name" : "/experiment_exporter/error_feedback [String]"
@@ -1410,54 +1455,76 @@
"name" : "/experiment_exporter/file_update [String]"
}
],
- "position" : [ 7380, 300 ],
+ "position" : [ 8440, 500 ],
"size" : [ 580, 324 ],
"sub_architecture" : "68debd5e-9e7a-486c-a58e-d553009e0cb3",
"uuid" : "2a909616-5a85-49b8-aafb-37daaa76d48c"
},
+ {
+ "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]"
+ }
+ ],
+ "position" : [ 3080, 2580 ],
+ "size" : [ 700, 120 ],
+ "sub_architecture" : "b343b3de-f4eb-412c-ae93-fca0f090ee5d",
+ "uuid" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a"
+ },
{
"label" : "HWU",
"name" : "dialogue_arbitrer",
"ports" : [
{
"direction" : "out",
- "name" : "/human_dialogue"
+ "name" : "/nlp_node/get_answer [service]"
},
{
"direction" : "in",
- "name" : "/dialogue_arbitrer/update [service]"
+ "name" : "/dialogue_start [action server]"
},
{
- "direction" : "in",
- "name" : "/dialogue_start [action server]"
+ "direction" : "out",
+ "name" : "/dialogue_start/status"
},
{
"direction" : "in",
- "name" : "/dialogue_arbitrer/query [service]"
+ "name" : "/dialogue_arbitrer/end_conv [service]"
},
{
"direction" : "out",
- "name" : "/task*_ros_server_action [action]"
+ "name" : "/dialogue_start/feedback"
},
{
- "direction" : "in",
- "name" : "/register_server [service]"
+ "direction" : "out",
+ "name" : "/human_dialogue"
},
{
"direction" : "out",
- "name" : "/get_answer [service]"
+ "name" : "/dialogue_say/say [service]"
},
{
"direction" : "out",
- "name" : "/dialogue_say/say [service]"
+ "name" : "/RPN [action]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/task*_ros_server_action [action]"
},
{
"direction" : "in",
"name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
}
],
- "position" : [ 5580, 420 ],
- "size" : [ 680, 420 ],
+ "position" : [ 5540, 600 ],
+ "size" : [ 760, 380 ],
"sub_architecture" : "e2ee44b3-4f04-4a27-a947-525fae05035d",
"uuid" : "9ab39362-e233-44d2-9d06-dd24694446f2"
},
@@ -1465,13 +1532,13 @@
"label" : "UNITN",
"name" : "activity_recognition [future]",
"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"
+ },
+ {
+ "direction" : "in",
+ "name" : "/vision_msgs/human_2d_pose [human_2d_pose_estimation/Frame]"
}
],
"position" : [ 4000, 2780 ],
@@ -1501,44 +1568,50 @@
"name" : "social_state_analyzer",
"ports" : [
{
- "direction" : "out",
- "name" : "output?"
+ "direction" : "in",
+ "name" : "/h/p/tracked"
},
{
"direction" : "in",
- "name" : "/humans/persons/tracked"
+ "name" : "/kb/query [service]"
},
{
"direction" : "in",
- "name" : "kb"
- }
- ],
- "position" : [ 5700, 1520 ],
- "size" : [ 740, 147 ],
- "sub_architecture" : "4f0b2a37-97ff-46ee-aff2-77001218ba31",
- "uuid" : "3dc083e8-26cc-448f-ae1e-25263c9f066f"
- },
- {
- "label" : "UNITN",
- "name" : "mask_detector",
- "ports" : [
+ "name" : "/h/p/*"
+ },
+ {
+ "direction" : "in",
+ "name" : "/h/b/tracked"
+ },
+ {
+ "direction" : "in",
+ "name" : "/h/b/*"
+ },
+ {
+ "direction" : "in",
+ "name" : "/h/f/*"
+ },
{
"direction" : "out",
- "name" : "/h/f/*/has_mask [wp4_msgs/FaceMask]"
+ "name" : "/social_state_analyser/state [std_msgs/String]"
},
{
"direction" : "in",
- "name" : "/h/f/*/cropped [sensor_msg/Image]"
+ "name" : "/social_state_analyzer_server [action_server]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/h/f/tracked"
}
],
- "position" : [ 3080, 2580 ],
- "size" : [ 700, 120 ],
- "sub_architecture" : "b343b3de-f4eb-412c-ae93-fca0f090ee5d",
- "uuid" : "c2585ae1-7f25-41a5-af6c-de742b2a7f9a"
+ "position" : [ 6260, 2120 ],
+ "size" : [ 740, 423 ],
+ "sub_architecture" : "4f0b2a37-97ff-46ee-aff2-77001218ba31",
+ "uuid" : "3dc083e8-26cc-448f-ae1e-25263c9f066f"
},
{
"label" : "INRIA",
- "name" : "front_fisheye_2d_body_pose_detector",
+ "name" : "front_fisheye_2d_body_pose_detector_op",
"ports" : [
{
"direction" : "out",
@@ -1554,7 +1627,7 @@
}
],
"position" : [ 2200, 1440 ],
- "size" : [ 980, 147 ],
+ "size" : [ 1060, 120 ],
"sub_architecture" : "f15ca40a-1ed5-416f-8467-d1551bf43797",
"uuid" : "9f0e4a90-79fb-4f15-b769-f539dd6ccc71"
},
@@ -1631,10 +1704,14 @@
{
"direction" : "out",
"name" : "/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]"
+ },
+ {
+ "direction" : "in",
+ "name" : "/social_state_analyser/state [std_msgs/String]"
}
],
- "position" : [ 4300, 580 ],
- "size" : [ 680, 300 ],
+ "position" : [ 4340, 640 ],
+ "size" : [ 780, 200 ],
"sub_architecture" : "257fcacc-ff35-430b-b11f-efd376c496ce",
"uuid" : "2d456ea5-0a29-43ff-9a1e-da6ae0ab25f3"
},
@@ -1694,6 +1771,10 @@
"label" : "HWU",
"name" : "dialogue_say",
"ports" : [
+ {
+ "direction" : "out",
+ "name" : "/dialogue_say/text [String]"
+ },
{
"direction" : "in",
"name" : "/dialogue_say/say [service]"
@@ -1702,13 +1783,21 @@
"direction" : "out",
"name" : "/tts/feedback"
},
+ {
+ "direction" : "in",
+ "name" : "/speech/speed"
+ },
+ {
+ "direction" : "in",
+ "name" : "/tts/status"
+ },
{
"direction" : "out",
- "name" : "/dialogue_say/text [String]"
+ "name" : "/tts [action_server]"
}
],
- "position" : [ 6500, 380 ],
- "size" : [ 520, 140 ],
+ "position" : [ 6540, 620 ],
+ "size" : [ 520, 193 ],
"sub_architecture" : "c854e5a0-2dbe-4eee-a79b-723d08083339",
"uuid" : "f6a0a5cf-aee4-4220-a3d1-ac219aaa3104"
},
@@ -1716,10 +1805,6 @@
"label" : "ERM",
"name" : "robot gui",
"ports" : [
- {
- "direction" : "in",
- "name" : "/dialogue_say/text"
- },
{
"direction" : "in",
"name" : "/tts/feedback"
@@ -1733,7 +1818,7 @@
"name" : "/audio/is_listening"
}
],
- "position" : [ 7380, 660 ],
+ "position" : [ 8440, 880 ],
"size" : [ 580, 239 ],
"sub_architecture" : "8a919bc7-c80b-4325-ac63-d04f2fc1d6bb",
"uuid" : "a8fd53b3-bfe1-43fc-b95a-4c949042fa3d"
@@ -1786,7 +1871,7 @@
"name" : "/kb/add_fact [std_msgs/String]"
}
],
- "position" : [ 5240, 2220 ],
+ "position" : [ 5260, 1980 ],
"size" : [ 340, 140 ],
"sub_architecture" : "bfea9558-3b6a-44a6-a8ae-75c1e679ff48",
"uuid" : "8dc55dfc-0215-44a1-9795-9255c328b198"
@@ -1801,17 +1886,17 @@
},
{
"direction" : "out",
- "name" : "service: /kb/query"
+ "name" : " /kb/query [service]"
}
],
- "position" : [ 5540, 2000 ],
- "size" : [ 740, 160 ],
+ "position" : [ 5500, 2180 ],
+ "size" : [ 520, 260 ],
"sub_architecture" : "15ec41b7-dcd6-4504-88c5-5eb6b80899f2",
"uuid" : "5a0113b6-a999-4339-8e21-44f3b8b3d693"
},
{
"label" : "INRIA",
- "name" : "behavior_generator",
+ "name" : "social_mpc",
"ports" : [
{
"direction" : "in",
@@ -1874,7 +1959,7 @@
"name" : "/head_controller/command [JointTrajectory]"
}
],
- "position" : [ 9000, 1360 ],
+ "position" : [ 9380, 1460 ],
"size" : [ 580, 1120 ],
"sub_architecture" : "d5ec9783-4c4f-4652-a8bd-b786a1905f48",
"uuid" : "328fd73c-ead7-4b87-a815-401958fa77a2"
@@ -1895,7 +1980,7 @@
},
{
"label" : "INRIA",
- "name" : "front_fisheye_body_tracker",
+ "name" : "front_fisheye_2d_body_tracker",
"ports" : [
{
"direction" : "out",
@@ -1918,8 +2003,8 @@
"name" : "/h/b/*/roi [hri_msgs/NormalizedRegionOfInterest2D]"
}
],
- "position" : [ 1440, 1740 ],
- "size" : [ 700, 184 ],
+ "position" : [ 1000, 1640 ],
+ "size" : [ 1120, 200 ],
"sub_architecture" : "d0367ed7-2b45-4244-9507-538e7767127f",
"uuid" : "d609252f-2fd4-4439-86c3-ece9fd387a3a"
},
@@ -1959,7 +2044,7 @@
},
{
"direction" : "in",
- "name" : "/dialogue_nlp/nlu [JSON String]"
+ "name" : "/nlp_node/nlu [JSON String]"
},
{
"direction" : "out",
@@ -1969,6 +2054,18 @@
"direction" : "out",
"name" : "/look_at goals"
},
+ {
+ "direction" : "out",
+ "name" : "gestures"
+ },
+ {
+ "direction" : "in",
+ "name" : "input"
+ },
+ {
+ "direction" : "in",
+ "name" : "/register_server [service]"
+ },
{
"direction" : "in",
"name" : "/interaction_manager/update [service]"
@@ -1979,55 +2076,59 @@
},
{
"direction" : "out",
- "name" : "gestures"
+ "name" : "/RPN [action]"
},
{
"direction" : "in",
- "name" : "input"
+ "name" : "/dialogue_start/feedback"
},
{
"direction" : "in",
- "name" : "/register_server [service]"
+ "name" : "/controller_status [ControllerStatus]"
},
{
"direction" : "in",
- "name" : "/controller_status [ControllerStatus]"
+ "name" : "semantic scene description [ON HOLD]"
},
{
"direction" : "in",
- "name" : "semantic scene description [ON HOLD]"
+ "name" : "/dialogue_start/status"
},
{
"direction" : "in",
"name" : "/h/p/*/softbiometrics [hri_msgs/Softbiometrics]"
+ },
+ {
+ "direction" : "out",
+ "name" : "/social_strategy_supervisor_server/goal"
}
],
- "position" : [ 6720, 1600 ],
- "size" : [ 1140, 600 ],
+ "position" : [ 6260, 1500 ],
+ "size" : [ 860, 561 ],
"sub_architecture" : "b87a23ac-d223-4bac-b438-0b16e6e55270",
"uuid" : "bc526a14-c5aa-466e-ba5b-30a78b14d672"
},
{
"label" : "HWU",
- "name" : "dialogue_nlp",
+ "name" : "nlp_node",
"ports" : [
{
"direction" : "in",
- "name" : "/get_answer [service]"
+ "name" : "/nlp_node/get_answer [service]"
},
{
"direction" : "out",
- "name" : "/dialogue_nlp/nlu [JSON String]"
+ "name" : "/nlp_node/nlu [JSON String]"
}
],
- "position" : [ 6500, 540 ],
- "size" : [ 520, 120 ],
+ "position" : [ 6540, 860 ],
+ "size" : [ 520, 160 ],
"sub_architecture" : "f8c8f093-a1b2-4115-8526-089374b7c119",
"uuid" : "f845ee2c-4cb3-4cae-bde9-8ac2ba692ee7"
},
{
"label" : "INRIA",
- "name" : "voice_body_matching",
+ "name" : "voicebodycandidatematches",
"ports" : [
{
"direction" : "in",
@@ -2035,22 +2136,22 @@
},
{
"direction" : "in",
- "name" : "tf: /body_*"
+ "name" : "tf: /voice_*"
},
{
"direction" : "in",
- "name" : "tf: /voice_*"
+ "name" : "/humans/bodies/tracked"
},
{
"direction" : "in",
- "name" : "/humans/bodies/tracked"
+ "name" : "tf: /body_*"
},
{
"direction" : "out",
"name" : "/humans/candidate_matches [hri_msgs/IdsMatch]"
}
],
- "position" : [ 3840, 1240 ],
+ "position" : [ 3820, 1320 ],
"size" : [ 740, 240 ],
"sub_architecture" : "c5fafc14-fe29-4632-be64-aa233e6c72ee",
"uuid" : "172516ca-a279-42a7-b515-ba2257887296"
@@ -2072,7 +2173,7 @@
"name" : "/controller_status [ControllerStatus]"
}
],
- "position" : [ 8080, 1840 ],
+ "position" : [ 8460, 1940 ],
"size" : [ 780, 147 ],
"sub_architecture" : "cc6bb1c2-c450-4e00-b0d8-b0f0d2048e04",
"uuid" : "b2cf0310-792d-4753-9e3d-243de1c81bbe"
@@ -2146,7 +2247,7 @@
"name" : "/RPN [action server]"
}
],
- "position" : [ 6500, 920 ],
+ "position" : [ 7180, 1260 ],
"size" : [ 520, 120 ],
"sub_architecture" : "d08a0f04-1e8d-4aa1-b71a-b3bf4597d4e2",
"uuid" : "ed36231e-fb0f-45d5-8770-6f8c613f8ca4"
@@ -2168,7 +2269,7 @@
"name" : "/controller_status [ControllerStatus]"
}
],
- "position" : [ 8080, 1360 ],
+ "position" : [ 8460, 1460 ],
"size" : [ 780, 147 ],
"sub_architecture" : "90d17edc-f200-49f6-adad-5100466d6703",
"uuid" : "c0155b17-15f4-4d86-909b-433fe737cb5f"
@@ -2190,7 +2291,7 @@
"name" : "/controller_status [ControllerStatus]"
}
],
- "position" : [ 8080, 1680 ],
+ "position" : [ 8460, 1780 ],
"size" : [ 780, 147 ],
"sub_architecture" : "8877ac09-dcf3-4f4b-9462-d7948759a3a3",
"uuid" : "bf22a99b-3b6f-416c-b967-8b4df877a72e"
@@ -2229,13 +2330,13 @@
"label" : "BIU",
"name" : "speaker_separation",
"ports" : [
- {
- "direction" : "out",
- "name" : "streams"
- },
{
"direction" : "in",
"name" : "/audio/raw_audio"
+ },
+ {
+ "direction" : "out",
+ "name" : "streams"
}
],
"position" : [ 1420, 580 ],
@@ -2260,7 +2361,7 @@
"name" : "/controller_status [ControllerStatus]"
}
],
- "position" : [ 8080, 2000 ],
+ "position" : [ 8460, 2100 ],
"size" : [ 780, 147 ],
"sub_architecture" : "ba99bc77-6bde-403a-97f5-223132fb109a",
"uuid" : "05d1e677-46ab-4338-b60c-a2657d5ed8b6"
@@ -2316,7 +2417,7 @@
"name" : "/humans/bodies/tracked [hri_msgs/IdsList]"
}
],
- "position" : [ 3220, 1620 ],
+ "position" : [ 3280, 1580 ],
"size" : [ 460, 200 ],
"sub_architecture" : "f6ab2c5c-5c73-439c-9342-fb1bbb24b1da",
"uuid" : "c9b76975-8236-4440-8693-6756fef3990b"
@@ -2325,13 +2426,13 @@
"label" : "BIU",
"name" : "CSD",
"ports" : [
- {
- "direction" : "in",
- "name" : "/audio/raw_audio"
- },
{
"direction" : "out",
"name" : "count_active_speakers"
+ },
+ {
+ "direction" : "in",
+ "name" : "/audio/raw_audio"
}
],
"position" : [ 1420, 900 ],
@@ -2340,7 +2441,7 @@
}
],
"uuid" : "234f40f3-f9bb-4d69-8121-aec26ac8c228",
- "version" : "2.1.0"
+ "version" : "2.2.0"
}
],
"root" : "234f40f3-f9bb-4d69-8121-aec26ac8c228"
diff --git a/spring-architecture.md b/spring-architecture.md
index 0cae7ae094b2e4c246e95585e563fdd682787aa4..f8673a1301f99bc41dfc67db2aa0c4a6d409a3af 100644
--- a/spring-architecture.md
+++ b/spring-architecture.md
@@ -1,6 +1,6 @@
---
-title: "SPRING architecture -- version 2.0.0"
-subtitle: "EU H2020 SPRING -- D7.4: Mature Software Architecture"
+title: "SPRING architecture -- version 2.2.0"
+subtitle: "EU H2020 SPRING -- D7.5: Final Software Architecture"
author: Séverin Lemaignan
---
@@ -9,67 +9,61 @@ author: Séverin Lemaignan
| **Node** | **Partner** | **Status** | **Description** |
|----------|-------------|------------|-----------------|
-| [riva_asr_0](#riva_asr_0) | BIU | released | Speech recognition based on NVIDIA Riva. Code: [https://gitlab.inria.fr/spring/wp3_av_perception/riva_asr_ros_client ](https://gitlab.inria.fr/spring/wp3_av_perception/riva_asr_ros_client )|
-| [speaker_extraction](#speaker_extraction) | BIU | not yet implemented | Voice embedding + speaker separation together (planned for Autumn 2023)|
-| [riva_asr_1](#riva_asr_1) | BIU | released | Speech recognition based on NVIDIA Riva (2nd instance for 2nd speaker). Code: [https://gitlab.inria.fr/spring/wp3_av_perception/riva_asr_ros_client ](https://gitlab.inria.fr/spring/wp3_av_perception/riva_asr_ros_client )|
-| [speakers_id](#speakers_id) | BIU | released | Speaker identification based on voice embeddings. Code: [git@gitlab.inria.fr:spring/wp4_behavior/non-integrated-contributions/speaker_identification.git](git@gitlab.inria.fr:spring/wp4_behavior/non-integrated-contributions/speaker_identification.git)|
-| [audio_processing_mode](#audio_processing_mode) | BIU | released | Audio pre-processing (incl. noise cancellation). Code: [https://gitlab.inria.fr/spring/wp3_av_perception/speech-enhancement SUBFOLDER:audio_processing ](https://gitlab.inria.fr/spring/wp3_av_perception/speech-enhancement SUBFOLDER:audio_processing )|
-| [speaker_separation](#speaker_separation) | BIU | released | blind separation + VAD + enhancement. Code: [ git@gitlab.inria.fr:spring/wp3_av_perception/audio_separation.git]( git@gitlab.inria.fr:spring/wp3_av_perception/audio_separation.git)|
-| [Voice-body matching](#voicebodymatching) | BIU | not yet implemented | Matching between localised voices and detected bodies|
-| [Yolact3D](#yolact3d) | CVUT | not yet implemented | Object detection/identification/localisation. Code: [ git@gitlab.inria.fr:spring/wp2_mapping_localization/yolact3d.git]( git@gitlab.inria.fr:spring/wp2_mapping_localization/yolact3d.git)|
-| [slam_rtabmap](#slam_rtabmap) | CVUT | released | |
-| [HLoc](#hloc) | CVUT | released | Global localization, service-based. Code: [git@gitlab.inria.fr:spring/wp2_mapping_localization/hloc-mapping-localization.git](git@gitlab.inria.fr:spring/wp2_mapping_localization/hloc-mapping-localization.git)|
-| [experiment_exporter](#experiment_exporter) | ERM | released | Experiment_exporter is in charge of logging the experiment data.. Code: [git@gitlab.inria.fr:spring/wp1_user_application/export-dialog.git](git@gitlab.inria.fr:spring/wp1_user_application/export-dialog.git)|
-| [robot gui](#robotgui) | ERM | released | Robot tablet interface. Code: [git@gitlab.inria.fr:spring/wp1_user_application/user_application.git](git@gitlab.inria.fr:spring/wp1_user_application/user_application.git)|
-| [exp_gui](#exp_gui) | ERM | released | Web server for the experimenter tablet. Code: [git@gitlab.inria.fr:spring/wp1_user_application/exp-gui.git](git@gitlab.inria.fr:spring/wp1_user_application/exp-gui.git)|
-| [ audio_msgs](#audio_msgs) | HWU | released | None REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/asr.git SUBFOLDER:audio_msgs NOT EXECUTABLE|
-| [ interaction_manager_msgs](#interaction_manager_msgs) | HWU | released | ROS messages. Code: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager_msgs NOT EXECUTABLE](git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager_msgs NOT EXECUTABLE)|
-| [ robot_behaviour_msgs](#robot_behaviour_msgs) | HWU | released | ROS messages. Code: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git SUBFOLDER:robot_behaviour_msgs NOT EXECUTABLE](git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git SUBFOLDER:robot_behaviour_msgs NOT EXECUTABLE)|
-| [ social_scene_msgs](#social_scene_msgs) | HWU | released | ROS messages. Code: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:social_scene_msgs NOT EXECUTABLE](git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:social_scene_msgs NOT EXECUTABLE)|
-| [ros_petri_net_node](#ros_petri_net_node) | HWU | released | Petrinet-based task planning|
-| [dialogue_speech](#dialogue_speech) | HWU | released | Speech pre-processing (incl. end of speech detection) REPO:git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git SUBFOLDER:dialogue_speech|
-| [dialogue_nlp](#dialogue_nlp) | HWU | released | ALANA chatbot|
-| [interaction_manager](#interaction_manager) | HWU | released | . Code: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager](git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager)|
-| [dialogue_say](#dialogue_say) | HWU | released | proxy to robot's TTS action server for ERM convenience|
+| [riva_asr](#riva_asr) | BIU | released | Speech recognition based on NVIDIA Riva (2nd instance for 2nd speaker). Code: [https://gitlab.inria.fr/spring/wp3_av_perception/riva_asr_ros_client ](https://gitlab.inria.fr/spring/wp3_av_perception/riva_asr_ros_client )|
+| [speaker_separation](#speaker_separation) | BIU | released | blind separation + VAD + enhancement. Code: [ https://gitlab.inria.fr/spring/wp3_av_perception/audio_separation.git]( https://gitlab.inria.fr/spring/wp3_av_perception/audio_separation.git)|
+| [CSD](#csd) | BIU | not yet implemented | |
+| [speaker_extraction](#speaker_extraction) | BIU | released | Voice embedding + speaker separation together. Code: [https://gitlab.inria.fr/spring/wp3_av_perception/1ch_speaker_extraction ](https://gitlab.inria.fr/spring/wp3_av_perception/1ch_speaker_extraction )|
+| [single_speaker_noise_reduction](#single_speaker_noise_reduction) | BIU | released | Audio pre-processing (incl. noise cancellation). Code: [https://gitlab.inria.fr/spring/wp3_av_perception/speech-enhancement SUBFOLDER:audio_processing ](https://gitlab.inria.fr/spring/wp3_av_perception/speech-enhancement SUBFOLDER:audio_processing )|
+| [speakers_id_and_DOA](#speakers_id_and_doa) | BIU | released | Speaker identification based on voice embeddings. Code: [https://gitlab.inria.fr/spring/wp4_behavior/non-integrated-contributions/speaker_identification](https://gitlab.inria.fr/spring/wp4_behavior/non-integrated-contributions/speaker_identification)|
+| [audio_arbitrer](#audio_arbitrer) | BIU | released | Assigns voices and audio stream, and publishes ROS4HRI-compatible ROS messages. Code: [https://gitlab.inria.fr/spring/wp3_av_perception/audio_manager ](https://gitlab.inria.fr/spring/wp3_av_perception/audio_manager )|
+| [slam_rtabmap](#slam_rtabmap) | CVUT | released | RTABmap based SLAM. Code: [https://gitlab.inria.fr/spring/wp2_mapping_localization/rtabmap-orbslam2](https://gitlab.inria.fr/spring/wp2_mapping_localization/rtabmap-orbslam2)|
+| [HLoc](#hloc) | CVUT | released | Global localization, service-based. Code: [https://gitlab.inria.fr/spring/wp2_mapping_localization/hloc-mapping-localization.git](https://gitlab.inria.fr/spring/wp2_mapping_localization/hloc-mapping-localization.git)|
+| [Yolact3D](#yolact3d) | CVUT | released | Object detection/identification/localisation. Code: [ https://gitlab.inria.fr/spring/wp2_mapping_localization/yolact3d.git]( https://gitlab.inria.fr/spring/wp2_mapping_localization/yolact3d.git)|
+| [experiment_exporter](#experiment_exporter) | ERM | released | Experiment_exporter is in charge of logging the experiment data.. Code: [https://gitlab.inria.fr/spring/wp1_user_application/export-dialog.git](https://gitlab.inria.fr/spring/wp1_user_application/export-dialog.git)|
+| [robot gui](#robotgui) | ERM | released | Robot tablet interface. Code: [https://gitlab.inria.fr/spring/wp1_user_application/user_application.git](https://gitlab.inria.fr/spring/wp1_user_application/user_application.git)|
+| [experimenter_gui](#experimenter_gui) | ERM | released | Web server for the experimenter tablet. Code: [https://gitlab.inria.fr/spring/wp1_user_application/exp-gui.git](https://gitlab.inria.fr/spring/wp1_user_application/exp-gui.git)|
+| [dialogue_say](#dialogue_say) | HWU | released | proxy to robot's TTS action server for ERM convenience. Code: [https://gitlab.inria.fr/spring/wp5_spoken_conversations/dialogue SUBFOLDER:dialogue_say](https://gitlab.inria.fr/spring/wp5_spoken_conversations/dialogue SUBFOLDER:dialogue_say)|
+| [interaction_manager](#interaction_manager) | HWU | released | . Code: [https://gitlab.inria.fr/spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager](https://gitlab.inria.fr/spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager)|
+| [ros_petri_net_node](#ros_petri_net_node) | HWU | released | Petrinet-based task planning. Code: [https://gitlab.inria.fr/spring/wp5_spoken_conversations/ros_petri_net_planner](https://gitlab.inria.fr/spring/wp5_spoken_conversations/ros_petri_net_planner)|
+| [dialogue_speech](#dialogue_speech) | HWU | released | Speech pre-processing (incl. end of speech detection). Code: [https://gitlab.inria.fr/spring/wp5_spoken_conversations/dialogue SUBFOLDER:dialogue_speech](https://gitlab.inria.fr/spring/wp5_spoken_conversations/dialogue SUBFOLDER:dialogue_speech)|
+| [nlp_node](#nlp_node) | HWU | released | ALANA chatbot|
+| [dialogue_arbitrer](#dialogue_arbitrer) | HWU | released | Dialogue arbitrer. Code: [https://gitlab.inria.fr/spring/wp5_spoken_conversations/dialogue SUBFOLDER:dialogue_arbiter](https://gitlab.inria.fr/spring/wp5_spoken_conversations/dialogue SUBFOLDER:dialogue_arbiter)|
+| [recipe_planner](#recipe_planner) | HWU | released | . Code: [https://gitlab.inria.fr/spring/wp5_spoken_conversations/plan_actions.git](https://gitlab.inria.fr/spring/wp5_spoken_conversations/plan_actions.git)|
| [social_state_analyzer](#social_state_analyzer) | HWU | released | Social scene understanding|
| [social_strategy_supervisor](#social_strategy_supervisor) | HWU | released | High-level interaction supervisor|
-| [recipe_planner](#recipe_planner) | HWU | released | . Code: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git](git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git)|
-| [dialogue_arbitrer](#dialogue_arbitrer) | HWU | released | . Code: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git SUBFOLDER:dialogue_arbiter](git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git SUBFOLDER:dialogue_arbiter)|
-| [look_at_position_action_server](#look_at_position_action_server) | INRIA | released | Robot action server ('look at person' action)|
| [go_to_group_action_server](#go_to_group_action_server) | INRIA | released | Robot action server (group approach)|
| [go_to_person_action_server](#go_to_person_action_server) | INRIA | released | Robot action server (person approach)|
| [occupancy_map_republisher](#occupancy_map_republisher) | INRIA | not yet implemented | |
-| [front_fisheye_2d_body_pose_detector](#front_fisheye_2d_body_pose_detector) | INRIA | released | 2D skeleton estimator This node estimates the 2.5D (x,y,theta) pose of nearby persons.. Code: [https://gitlab.inria.fr/spring/wp3_av_perception/front_fisheye_2d_body_pose_detector](https://gitlab.inria.fr/spring/wp3_av_perception/front_fisheye_2d_body_pose_detector)|
+| [front_fisheye_2d_body_pose_detector_op](#front_fisheye_2d_body_pose_detector_op) | INRIA | released | 2D skeleton estimator This node estimates the 2.5D (x,y,theta) pose of nearby persons.. Code: [https://gitlab.inria.fr/spring/wp3_av_perception/front_fisheye_2d_body_pose_detector](https://gitlab.inria.fr/spring/wp3_av_perception/front_fisheye_2d_body_pose_detector)|
| [group_detector](#group_detector) | INRIA | released | Group detection (incl. f-formations). Code: [https://gitlab.inria.fr/spring/wp4_behavior/group_detector](https://gitlab.inria.fr/spring/wp4_behavior/group_detector)|
| [body_to_face_mapper](#body_to_face_mapper) | INRIA | released | Face-body matching. Code: [node associates detected bodies to detected faces in image-space. REPO:https://gitlab.inria.fr/spring/wp3_av_perception/body_to_face_mapper](node associates detected bodies to detected faces in image-space. REPO:https://gitlab.inria.fr/spring/wp3_av_perception/body_to_face_mapper)|
-| [body_3d_tracker](#body_3d_tracker) | INRIA | released | Laser-based 3D people pose estimation REPO:https://gitlab.inria.fr/spring/wp3_av_perception/body_3d_tracker|
+| [basestation_republisher](#basestation_republisher) | INRIA | released | Node to republish compressed video streams on the SPRING basestation. Code: [https://gitlab.inria.fr/spring/wp3_av_perception/docker_republish](https://gitlab.inria.fr/spring/wp3_av_perception/docker_republish)|
| [go_to_body_action_server](#go_to_body_action_server) | INRIA | released | Robot action server (body approach)|
| [go_to_position_action_server](#go_to_position_action_server) | INRIA | released | Robot action server (navigation to location)|
+| [look_at_person_server](#look_at_person_server) | INRIA | released | Robot action server ('look at person' server)|
| [look_at_action_server](#look_at_action_server) | INRIA | released | Robot action server (generic 'look at' action)|
-| [look_at_person_server](#look_at_person_server) | INRIA | released | None|
-| [behavior_generator](#behavior_generator) | INRIA | released | . Code: [ https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior]( https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior)|
+| [social_mpc](#social_mpc) | INRIA | released | . Code: [ https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior]( https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior)|
+| [look_at_position_action_server](#look_at_position_action_server) | INRIA | released | Robot action server ('look at location' action) |
| [pointcloud2occmap](#pointcloud2occmap) | INRIA | not yet implemented | |
-| [basestation_republisher](#basestation_republisher) | INRIA | released | Node to republish compressed video streams on the SPRING basestation. Code: [https://gitlab.inria.fr/spring/wp3_av_perception/docker_republish](https://gitlab.inria.fr/spring/wp3_av_perception/docker_republish)|
-| [front_fisheye_body_tracker](#front_fisheye_body_tracker) | INRIA | released | . Code: [ https://gitlab.inria.fr/spring/wp3_av_perception/multi-person_visual_tracker/]( https://gitlab.inria.fr/spring/wp3_av_perception/multi-person_visual_tracker/)|
-| [ hri_msgs](#hri_msgs) | PAL | released | ROS messages for the ROS4HRI standard. Code: [ git@gitlab:ros4hri/hri_msgs.git NOT EXECUTABLE]( git@gitlab:ros4hri/hri_msgs.git NOT EXECUTABLE)|
-| [ spring_msgs](#spring_msgs) | PAL | released | ROS messages. Code: [git@gitlab.inria.fr:spring/wp7_ari/spring_msgs.git NOT EXECUTABLE](git@gitlab.inria.fr:spring/wp7_ari/spring_msgs.git NOT EXECUTABLE)|
-| [respeaker_ros](#respeaker_ros) | PAL | released | Microphone array driver REPO:git@gitlab.inria.fr:spring/wp7_ari/respeaker_ros.git BIN:respeaker_multichan_node.py|
+| [front_fisheye_2d_body_tracker](#front_fisheye_2d_body_tracker) | INRIA | released | 2D body detector and tracker, based on the FairMOT algorithm.. Code: [ https://gitlab.inria.fr/spring/wp3_av_perception/multi-person_visual_tracker/]( https://gitlab.inria.fr/spring/wp3_av_perception/multi-person_visual_tracker/)|
+| [voicebodycandidatematches](#voicebodycandidatematches) | INRIA | released | Matching between localised voices and detected bodies|
+| [body_3d_tracker](#body_3d_tracker) | INRIA | released | Laser-based 3D people pose estimation REPO:https://gitlab.inria.fr/spring/wp3_av_perception/body_3d_tracker|
+| [respeaker_ros](#respeaker_ros) | PAL | released | Microphone array driver REPO:https://gitlab.inria.fr/spring/wp7_ari/respeaker_ros.git BIN:respeaker_multichan_node.py|
| [fisheye](#fisheye) | PAL | released | frontal fisheye camera driver|
| [raspicam](#raspicam) | PAL | released | RGB head camera driver|
| [Robot functional layer](#robotfunctionallayer) | PAL | released | robot's hardware interfaces|
-| [hri_person_manager](#hri_person_manager) | PAL | released | Probabilistic fusion of faces, bodies, voices into persons. Code: [git@gitlab.inria.fr:spring/wp7_ari/hri_person_manager.git](git@gitlab.inria.fr:spring/wp7_ari/hri_person_manager.git)|
+| [hri_person_manager](#hri_person_manager) | PAL | released | Probabilistic fusion of faces, bodies, voices into persons. Code: [https://gitlab.inria.fr/spring/wp7_ari/hri_person_manager.git](https://gitlab.inria.fr/spring/wp7_ari/hri_person_manager.git)|
| [torso_rgbd_camera](#torso_rgbd_camera) | PAL | released | Frontal RGB-D camera driver|
| [people_facts](#people_facts) | PAL | released | Semantic bridge between human perception and the knowledge base. Code: [https://gitlab.inria.fr/spring/wp7_ari/people_facts](https://gitlab.inria.fr/spring/wp7_ari/people_facts)|
| [knowledge_core](#knowledge_core) | PAL | released | Robot's RDF/OWL knowledge base. Code: [https://gitlab.inria.fr/spring/wp7_ari/knowledge_core](https://gitlab.inria.fr/spring/wp7_ari/knowledge_core)|
-| [ wp4_msgs](#wp4_msgs) | UNITN | released | ROS messages. Code: [git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git SUBFOLDER:wp4_msgs NOT EXECUTABLE](git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git SUBFOLDER:wp4_msgs NOT EXECUTABLE)|
-| [activity_recognition](#activity_recognition) | UNITN | not yet implemented | Activity recognition|
+| [soft_biometrics_estimator](#soft_biometrics_estimator) | UNITN | released | Detects age and gender. Code: [https://gitlab.inria.fr/spring/wp4_behavior/wp4_behavior_understanding SUBFOLDER:wp4_people_characteristics BIN:soft_biometrics_estimator.py](https://gitlab.inria.fr/spring/wp4_behavior/wp4_behavior_understanding SUBFOLDER:wp4_people_characteristics BIN:soft_biometrics_estimator.py)|
| [emotion_estimation](#emotion_estimation) | UNITN | released | Non-verbal behaviour generation|
| [face_tracker](#face_tracker) | UNITN | released | face detection and tracking. Code: [ https://gitlab.inria.fr/spring/wp4_behavior/face-tracker]( https://gitlab.inria.fr/spring/wp4_behavior/face-tracker)|
+| [mask_detector](#mask_detector) | UNITN | released | Detects presence of a facial mask. Code: [https://gitlab.inria.fr/spring/wp4_behavior/mask-detection BIN:mask_detector.py](https://gitlab.inria.fr/spring/wp4_behavior/mask-detection BIN:mask_detector.py)|
| [depth_estimation](#depth_estimation) | UNITN | released | Monocular depth estimation. Code: [https://gitlab.inria.fr/spring/wp4_behavior/depth-estimation](https://gitlab.inria.fr/spring/wp4_behavior/depth-estimation)|
-| [human_2d_pose_estimation](#human_2d_pose_estimation) | UNITN | released | . Code: [https://gitlab.inria.fr/spring/wp4_behavior/human-2d-pose-estimation](https://gitlab.inria.fr/spring/wp4_behavior/human-2d-pose-estimation)|
+| [human_2d_pose_estimation](#human_2d_pose_estimation) | UNITN | released | 2D skeleton extractor. Code: [https://gitlab.inria.fr/spring/wp4_behavior/human-2d-pose-estimation](https://gitlab.inria.fr/spring/wp4_behavior/human-2d-pose-estimation)|
| [gaze_estimation](#gaze_estimation) | UNITN | released | 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|
-| [mask_detector](#mask_detector) | UNITN | released | . Code: [https://gitlab.inria.fr/spring/wp4_behavior/mask-detection BIN:mask_detector.py](https://gitlab.inria.fr/spring/wp4_behavior/mask-detection BIN:mask_detector.py)|
-| [soft_biometrics_estimator](#soft_biometrics_estimator) | UNITN | released | . Code: [git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git](git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git)|
+| [activity_recognition](#activity_recognition) | UNITN | released | Activity recognition|
# Detailed description
@@ -80,75 +74,74 @@ author: Séverin Lemaignan
-### audio_processing_mode {#audio_processing_mode}
+### audio_arbitrer {#audio_arbitrer}
- This node performs: - speech echo cancelation, - single microphone audio enhancement Used for the single-speaker only pipeline.
-*The node audio_processing_mode (id: `audio_processing_mode`) is maintained by BIU.*
+
+*The node audio_arbitrer (id: `audio_arbitrer`) is maintained by BIU.*
#### Status
-Implemented. Current release/branch: BIU_dev
+Implemented. Current release/branch: 0.0.1
-Source code repository: [https://gitlab.inria.fr/spring/wp3_av_perception/speech-enhancement SUBFOLDER:audio_processing ](https://gitlab.inria.fr/spring/wp3_av_perception/speech-enhancement SUBFOLDER:audio_processing )
+Source code repository: [https://gitlab.inria.fr/spring/wp3_av_perception/audio_manager ](https://gitlab.inria.fr/spring/wp3_av_perception/audio_manager )
#### Inputs
- - Topic subscription: `/audio/raw_audio [spring_msgs/RawAudioData]`
-
+ - Input: count_active_speakers
+ - Input: processed_audio
+ - Input: active_voices
#### Outputs
- - Topic publication: `/audio/enh_audio [spring_msgs/RawAudioData]`
+ - Output: `tf: /voice_*` (tf)
+ - Topic publication: `/humans/voices/<id>/speech [hri_msgs/LiveSpeech]`
+
+ - Topic publication: `/humans/voices/<id>/doa [std_msgs/Float32]`
#### Dependencies
-- `spring_msgs/RawAudioData`
+- `std_msgs/Empty`
+- `tf/transform_broadcaster`
+- `hri_msgs/LiveSpeech`
+- `std_msgs/Float32`
-### riva_asr_0 {#riva_asr_0}
+### CSD {#csd}
-*The node riva_asr_0 (id: `riva_asr_0`) is maintained by BIU.*
+*The node CSD (id: `csd`) is maintained by BIU.*
#### Status
-Implemented. Current release/branch: main
-
-Source code repository: [https://gitlab.inria.fr/spring/wp3_av_perception/riva_asr_ros_client ](https://gitlab.inria.fr/spring/wp3_av_perception/riva_asr_ros_client )
+This node is not yet implemented.
#### Inputs
- - Topic subscription: `/humans/voices/<id>/audio [audio_common_msgs/AudioData]`
-
- - Topic subscription: `/h/v/tracked [hri_msgs/IdsList]`
-
+ - Input: /audio/raw_audio
#### Outputs
- - Topic publication: `/humans/voices/<id>/speech [hri_msgs/LiveSpeech]`
-
+ - Output: count_active_speakers
#### Dependencies
-- `audio_common_msgs/AudioData`
-- `hri_msgs/IdsList`
-- `hri_msgs/LiveSpeech`
+- `std_msgs/Empty`
-### riva_asr_1 {#riva_asr_1}
+### riva_asr {#riva_asr}
-*The node riva_asr_1 (id: `riva_asr_1`) is maintained by BIU.*
+*The node riva_asr (id: `riva_asr`) is maintained by BIU.*
#### Status
@@ -159,177 +152,137 @@ Source code repository: [https://gitlab.inria.fr/spring/wp3_av_perception/riva_a
#### Inputs
- - Topic subscription: `/h/v/tracked [hri_msgs/IdsList]`
-
- - Topic subscription: `/humans/voices/<id>/audio [audio_common_msgs/AudioData]`
-
+ - Input: audio
#### Outputs
- - Topic publication: `/humans/voices/<id>/speech [hri_msgs/LiveSpeech]`
-
+ - Output: text
#### Dependencies
-- `hri_msgs/IdsList`
-- `hri_msgs/LiveSpeech`
-- `audio_common_msgs/AudioData`
-
+- `std_msgs/Empty`
-### speaker_extraction {#speaker_extraction}
+### single_speaker_noise_reduction {#single_speaker_noise_reduction}
+ This node performs: - speech echo cancelation, - single microphone audio enhancement Used for the single-speaker only pipeline.
-*The node speaker_extraction (id: `speaker_extraction`) is maintained by BIU.*
+*The node single_speaker_noise_reduction (id: `single_speaker_noise_reduction`) is maintained by BIU.*
#### Status
-This node is not yet implemented.
+Implemented. Current release/branch: BIU_dev
+Source code repository: [https://gitlab.inria.fr/spring/wp3_av_perception/speech-enhancement SUBFOLDER:audio_processing ](https://gitlab.inria.fr/spring/wp3_av_perception/speech-enhancement SUBFOLDER:audio_processing )
-#### Inputs
- - Input: database of voice embeddings
- - Topic subscription: `/audio/raw_audio [audio_common_msgs/AudioData]`
+#### Inputs
+ - Input: /audio/raw_audio
#### Outputs
- - Topic publication: `/audio/stream* [audio_common_msgs/AudioData]`
-
- - Topic publication: `/audio/doa* [std_msgs/Float32]`
+ - Topic publication: `/audio/enh_audio [spring_msgs/RawAudioData]`
#### Dependencies
-- `audio_common_msgs/AudioData`
- `std_msgs/Empty`
-- `std_msgs/Float32`
+- `spring_msgs/RawAudioData`
-### speaker_separation {#speaker_separation}
+### speaker_extraction {#speaker_extraction}
-*The node speaker_separation (id: `speaker_separation`) is maintained by BIU.*
+*The node speaker_extraction (id: `speaker_extraction`) is maintained by BIU.*
#### Status
-Implemented. Current release/branch: main
+Implemented. Current release/branch: 0.0.1
-Source code repository: [ git@gitlab.inria.fr:spring/wp3_av_perception/audio_separation.git]( git@gitlab.inria.fr:spring/wp3_av_perception/audio_separation.git)
+Source code repository: [https://gitlab.inria.fr/spring/wp3_av_perception/1ch_speaker_extraction ](https://gitlab.inria.fr/spring/wp3_av_perception/1ch_speaker_extraction )
#### Inputs
- - Topic subscription: `/audio/raw_audio [audio_common_msgs/AudioData]`
-
+ - Input: streams
#### Outputs
- - Topic publication: `/audio/speaker1/doa [std_msgs/Float32]`
-
- - Topic publication: `/audio/speaker2/doa [std_msgs/Float32]`
-
- - Topic publication: `/audio/speaker2/stream [audio_common_msgs/AudioData]`
-
- - Topic publication: `/audio/speaker1/stream [audio_common_msgs/AudioData]`
+ - Topic publication: `/audio/voice_stream* [audio_common_msgs/AudioData]`
#### Dependencies
-- `std_msgs/Float32`
+- `std_msgs/Empty`
- `audio_common_msgs/AudioData`
-### speakers_id {#speakers_id}
+### speaker_separation {#speaker_separation}
-*The node speakers_id (id: `speakers_id`) is maintained by BIU.*
+*The node speaker_separation (id: `speaker_separation`) is maintained by BIU.*
#### Status
-Implemented. Current release/branch: dual_speaker_ecapa
+Implemented. Current release/branch: main
-Source code repository: [git@gitlab.inria.fr:spring/wp4_behavior/non-integrated-contributions/speaker_identification.git](git@gitlab.inria.fr:spring/wp4_behavior/non-integrated-contributions/speaker_identification.git)
+Source code repository: [ https://gitlab.inria.fr/spring/wp3_av_perception/audio_separation.git]( https://gitlab.inria.fr/spring/wp3_av_perception/audio_separation.git)
#### Inputs
- - Topic subscription: `/humans/voices/speaker1/stream [audio_common_msgs/AudioData]`
-
- - Topic subscription: `/humans/voices/speaker1/doa [std_msgs/Float32]`
-
- - Topic subscription: `/humans/voices/speaker2/doa [std_msgs/Float32]`
-
- - Topic subscription: `/audio/ego_audio [audio_common_msgs/AudioData]`
-
- - Topic subscription: `/humans/voices/speaker2/stream [audio_common_msgs/AudioData]`
-
+ - Input: /audio/raw_audio
#### Outputs
- - Topic publication: `/h/v/tracked [hri_msgs/IdsList]`
-
- - Output: /audio/is_listening
- - Output: /audio/vad
- - Output: `tf: /voice_*` (tf)
- - Topic publication: `/humans/voices/<id>/audio [audio_common_msgs/AudioData]`
-
- - Topic publication: `/h/v/known [hri_msgs/IdsList]`
-
- - Topic publication: `/humans/voices/<id>/is_speaking [std_msgs/Bool]`
-
- - Topic publication: `/humans/voices/<id>/doa [std_msgs/Float32]`
-
+ - Output: streams
#### Dependencies
-- `hri_msgs/IdsList`
- `std_msgs/Empty`
-- `audio_common_msgs/AudioData`
-- `tf/transform_broadcaster`
-- `std_msgs/Float32`
-- `std_msgs/Bool`
-### Voice-body matching {#voicebodymatching}
+### speakers_id_and_DOA {#speakers_id_and_doa}
-
-*The node Voice-body matching (id: `voicebodymatching`) is maintained by BIU.*
+
+*The node speakers_id_and_DOA (id: `speakers_id_and_doa`) is maintained by BIU.*
#### Status
-This node is not yet implemented.
+Implemented. Current release/branch: dual_speaker_ecapa
+
+Source code repository: [https://gitlab.inria.fr/spring/wp4_behavior/non-integrated-contributions/speaker_identification](https://gitlab.inria.fr/spring/wp4_behavior/non-integrated-contributions/speaker_identification)
#### Inputs
- - Input: `tf: /body_*` (tf)
- - Input: `tf: /voice_*` (tf)
- - Input: /humans/bodies/tracked
- - Input: /humans/voices/tracked
+ - Input: /audio/voice_stream*
+ - Input: count_active_speakers
#### Outputs
- - Topic publication: `/humans/candidate_matches [hri_msgs/IdsMatch]`
+ - Topic publication: `/humans/voices/<id>/doa [std_msgs/Float32]`
+
+ - Topic publication: `/humans/voices/<id>/audio [audio_common_msgs/AudioData]`
#### Dependencies
-- `tf/transform_listener`
- `std_msgs/Empty`
-- `hri_msgs/IdsMatch`
+- `std_msgs/Float32`
+- `audio_common_msgs/AudioData`
@@ -348,7 +301,7 @@ This node is not yet implemented.
Implemented. Current release/branch: main
-Source code repository: [git@gitlab.inria.fr:spring/wp2_mapping_localization/hloc-mapping-localization.git](git@gitlab.inria.fr:spring/wp2_mapping_localization/hloc-mapping-localization.git)
+Source code repository: [https://gitlab.inria.fr/spring/wp2_mapping_localization/hloc-mapping-localization.git](https://gitlab.inria.fr/spring/wp2_mapping_localization/hloc-mapping-localization.git)
#### Inputs
@@ -374,7 +327,7 @@ Source code repository: [git@gitlab.inria.fr:spring/wp2_mapping_localization/hlo
### slam_rtabmap {#slam_rtabmap}
- slam_rtabmap is...
+
*The node slam_rtabmap (id: `slam_rtabmap`) is maintained by CVUT.*
@@ -382,29 +335,29 @@ Source code repository: [git@gitlab.inria.fr:spring/wp2_mapping_localization/hlo
Implemented. Current release/branch: 0.0.1
-Source code repository: []()
+Source code repository: [https://gitlab.inria.fr/spring/wp2_mapping_localization/rtabmap-orbslam2](https://gitlab.inria.fr/spring/wp2_mapping_localization/rtabmap-orbslam2)
#### Inputs
- - Input: [call HLoc to perform global localization]
- Input: torso_front_camera/infra*/*
- Input: /torso_front_camera/imu
+ - Input: [call HLoc to perform global localization]
#### Outputs
- - Topic publication: `/robot_pose [geometry_msgs/PoseWithCovarianceStamped]`
-
- Output: `tf: /odom` (tf)
- Topic publication: `/slam/occupancy_map [OccupancyGrid/OccupancyGrid]`
+ - Topic publication: `/robot_pose [geometry_msgs/PoseWithCovarianceStamped]`
+
#### Dependencies
-- `geometry_msgs/PoseWithCovarianceStamped`
-- `std_msgs/Empty`
- `tf/transform_broadcaster`
+- `std_msgs/Empty`
- `OccupancyGrid/OccupancyGrid`
+- `geometry_msgs/PoseWithCovarianceStamped`
@@ -417,7 +370,9 @@ Source code repository: []()
#### Status
-This node is not yet implemented.
+Implemented. Current release/branch: master
+
+Source code repository: [ https://gitlab.inria.fr/spring/wp2_mapping_localization/yolact3d.git]( https://gitlab.inria.fr/spring/wp2_mapping_localization/yolact3d.git)
#### Inputs
@@ -425,9 +380,9 @@ This node is not yet implemented.
- Topic subscription: `/slam/occupancy_map [OccupancyGrid/OccupancyGrid]`
- Input: tf
+ - Input: /torso_front_camera/aligned_depth_to_color [sensor_msgs/Image
- Topic subscription: `/torso_front_camera/color/image_raw [sensor_msgs/Image]`
- - Input: /torso_front_camera/aligned_depth_to_color [sensor_msgs/Image
#### Outputs
@@ -436,8 +391,8 @@ This node is not yet implemented.
#### Dependencies
-- `OccupancyGrid/OccupancyGrid`
- `yolact3d/Yolact3DObjects`
+- `OccupancyGrid/OccupancyGrid`
- `std_msgs/Empty`
- `sensor_msgs/Image`
@@ -448,80 +403,81 @@ This node is not yet implemented.
-### exp_gui {#exp_gui}
+### experiment_exporter {#experiment_exporter}
-*The node exp_gui (id: `exp_gui`) is maintained by ERM.*
+*The node experiment_exporter (id: `experiment_exporter`) is maintained by ERM.*
#### Status
Implemented. Current release/branch: main
-Source code repository: [git@gitlab.inria.fr:spring/wp1_user_application/exp-gui.git](git@gitlab.inria.fr:spring/wp1_user_application/exp-gui.git)
+Source code repository: [https://gitlab.inria.fr/spring/wp1_user_application/export-dialog.git](https://gitlab.inria.fr/spring/wp1_user_application/export-dialog.git)
#### Inputs
- - Input: /dialogue_start/status
- - Input: /diagnostics
- - Input: /slam/localization_pose
-
-#### Outputs
+ - Topic subscription: `/dialogue_say/text [String/String]`
- - Output: /dialogue_start/goal [dialogue_msgs/StartDialogueActionGoal]
- - Topic publication: `/experiment_exporter/error_feedback [String/String]`
+ - Topic subscription: `/experiment_exporter/file_update [String/String]`
- - Topic publication: `/experiment_exporter/file_update [String/String]`
+ - Topic subscription: `/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]`
- - Topic publication: `/dialogue_arbiter/reset [Empty/Empty]`
+ - Topic subscription: `/experiment_exporter/error_feedback [String/String]`
- - Topic publication: `/interaction_manager/start [Empty/Empty]`
- - Topic publication: `/web/go_to [pal_web_msgs/WebGoTo]`
+#### Outputs
#### Dependencies
-- `std_msgs/Empty`
- `String/String`
-- `Empty/Empty`
-- `pal_web_msgs/WebGoTo`
+- `dialogue_msgs/EndOfSpeech`
-### experiment_exporter {#experiment_exporter}
+### experimenter_gui {#experimenter_gui}
-*The node experiment_exporter (id: `experiment_exporter`) is maintained by ERM.*
+*The node experimenter_gui (id: `experimenter_gui`) is maintained by ERM.*
#### Status
Implemented. Current release/branch: main
-Source code repository: [git@gitlab.inria.fr:spring/wp1_user_application/export-dialog.git](git@gitlab.inria.fr:spring/wp1_user_application/export-dialog.git)
+Source code repository: [https://gitlab.inria.fr/spring/wp1_user_application/exp-gui.git](https://gitlab.inria.fr/spring/wp1_user_application/exp-gui.git)
#### Inputs
- - Topic subscription: `/experiment_exporter/file_update [String/String]`
+ - Input: /dialogue_start/status
+ - Input: /diagnostics
+ - Input: /slam/localization_pose
- - Topic subscription: `/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]`
+#### Outputs
- - Topic subscription: `/experiment_exporter/error_feedback [String/String]`
+ - Output: /dialogue_start/goal [dialogue_msgs/StartDialogueActionGoal]
+ - Topic publication: `/dialogue_arbiter/reset [Empty/Empty]`
- - Topic subscription: `/dialogue_say/text [String/String]`
+ - Topic publication: `/interaction_manager/start [Empty/Empty]`
+ - Topic publication: `/web/go_to [pal_web_msgs/WebGoTo]`
-#### Outputs
+ - Output: /speech/speed
+ - Topic publication: `/experiment_exporter/error_feedback [String/String]`
+
+ - Topic publication: `/experiment_exporter/file_update [String/String]`
#### Dependencies
+- `std_msgs/Empty`
+- `Empty/Empty`
+- `pal_web_msgs/WebGoTo`
- `String/String`
-- `dialogue_msgs/EndOfSpeech`
@@ -536,12 +492,11 @@ Source code repository: [git@gitlab.inria.fr:spring/wp1_user_application/export-
Implemented. Current release/branch: master
-Source code repository: [git@gitlab.inria.fr:spring/wp1_user_application/user_application.git](git@gitlab.inria.fr:spring/wp1_user_application/user_application.git)
+Source code repository: [https://gitlab.inria.fr/spring/wp1_user_application/user_application.git](https://gitlab.inria.fr/spring/wp1_user_application/user_application.git)
#### Inputs
- - Input: /dialogue_say/text
- Input: /tts/feedback
- Input: /human_dialogue
- Input: /audio/is_listening
@@ -560,28 +515,6 @@ Source code repository: [git@gitlab.inria.fr:spring/wp1_user_application/user_ap
-### audio_msgs {#audio_msgs}
-
-
-
-*The node audio_msgs (id: `audio_msgs`) is maintained by HWU.*
-
-#### Status
-
-Implemented. Current release/branch: spring_dev
-
-Source code repository: []()
-
-
-#### Inputs
-
-
-#### Outputs
-
-
-
-
-
### dialogue_arbitrer {#dialogue_arbitrer}
@@ -592,74 +525,43 @@ Source code repository: []()
Implemented. Current release/branch: main
-Source code repository: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git SUBFOLDER:dialogue_arbiter](git@gitlab.inria.fr:spring/wp5_spoken_conversations/dialogue.git SUBFOLDER:dialogue_arbiter)
+Source code repository: [https://gitlab.inria.fr/spring/wp5_spoken_conversations/dialogue SUBFOLDER:dialogue_arbiter](https://gitlab.inria.fr/spring/wp5_spoken_conversations/dialogue SUBFOLDER:dialogue_arbiter)
#### Inputs
- - Topic subscription: `/dialogue_arbitrer/update [service/service]`
-
- Topic subscription: `/dialogue_start [action server/action server]`
- - Topic subscription: `/dialogue_arbitrer/query [service/service]`
+ - Topic subscription: `/dialogue_arbitrer/end_conv [service/service]`
- Topic subscription: `/dialogue_speech/eos [dialogue_msgs/EndOfSpeech]`
- - Topic subscription: `/register_server [service/service]`
-
#### Outputs
+ - Topic publication: `/nlp_node/get_answer [service/service]`
+
+ - Output: /dialogue_start/status
+ - Output: /dialogue_start/feedback
- Output: /human_dialogue
- - Topic publication: `/task*_ros_server_action [action/action]`
+ - Topic publication: `/dialogue_say/say [service/service]`
- - Topic publication: `/get_answer [service/service]`
+ - Topic publication: `/RPN [action/action]`
- - Topic publication: `/dialogue_say/say [service/service]`
+ - Topic publication: `/task*_ros_server_action [action/action]`
#### Dependencies
-- `std_msgs/Empty`
- `service/service`
- `action server/action server`
+- `std_msgs/Empty`
- `action/action`
- `dialogue_msgs/EndOfSpeech`
-### dialogue_nlp {#dialogue_nlp}
-
-
-
-*The node dialogue_nlp (id: `dialogue_nlp`) is maintained by HWU.*
-
-#### Status
-
-Implemented. Current release/branch: 0.0.1
-
-Source code repository: []()
-
-
-#### Inputs
-
- - Topic subscription: `/get_answer [service/service]`
-
-
-#### Outputs
-
- - Topic publication: `/dialogue_nlp/nlu [JSON String/JSON String]`
-
-
-#### Dependencies
-
-- `service/service`
-- `JSON String/JSON String`
-
-
-
-
### dialogue_say {#dialogue_say}
@@ -670,25 +572,30 @@ Source code repository: []()
Implemented. Current release/branch: main
-Source code repository: []()
+Source code repository: [https://gitlab.inria.fr/spring/wp5_spoken_conversations/dialogue SUBFOLDER:dialogue_say](https://gitlab.inria.fr/spring/wp5_spoken_conversations/dialogue SUBFOLDER:dialogue_say)
#### Inputs
- Topic subscription: `/dialogue_say/say [service/service]`
+ - Input: /speech/speed
+ - Input: /tts/status
#### Outputs
- - Output: /tts/feedback
- Topic publication: `/dialogue_say/text [String/String]`
+ - Output: /tts/feedback
+ - Topic publication: `/tts [action_server/action_server]`
+
#### Dependencies
+- `String/String`
- `service/service`
- `std_msgs/Empty`
-- `String/String`
+- `action_server/action_server`
@@ -703,13 +610,15 @@ Source code repository: []()
Implemented. Current release/branch: master
-Source code repository: []()
+Source code repository: [https://gitlab.inria.fr/spring/wp5_spoken_conversations/dialogue SUBFOLDER:dialogue_speech](https://gitlab.inria.fr/spring/wp5_spoken_conversations/dialogue SUBFOLDER:dialogue_speech)
#### Inputs
- Topic subscription: `/humans/voices/<id>/speech [hri_msgs/LiveSpeech]`
+ - Topic subscription: `/social_state_analyser/state [std_msgs/String]`
+
#### Outputs
@@ -718,8 +627,9 @@ Source code repository: []()
#### Dependencies
-- `dialogue_msgs/EndOfSpeech`
- `hri_msgs/LiveSpeech`
+- `dialogue_msgs/EndOfSpeech`
+- `std_msgs/String`
@@ -734,25 +644,27 @@ Source code repository: []()
Implemented. Current release/branch: spring_dev
-Source code repository: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager](git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager)
+Source code repository: [https://gitlab.inria.fr/spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager](https://gitlab.inria.fr/spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager)
#### Inputs
+ - Input: TF
+ - Topic subscription: `/nlp_node/nlu [JSON String/JSON String]`
+
+ - Input: input
+ - Topic subscription: `/register_server [service/service]`
+
- Topic subscription: `/interaction_manager/update [service/service]`
- Topic subscription: `/interaction_manager/query [service/service]`
- - Input: TF
- - Topic subscription: `/humans/persons/<id>/softbiometrics [hri_msgs/Softbiometrics]`
-
+ - Input: /dialogue_start/feedback
- Topic subscription: `/controller_status [ControllerStatus/ControllerStatus]`
- - Topic subscription: `/dialogue_nlp/nlu [JSON String/JSON String]`
-
- Input: semantic scene description [ON HOLD]
- - Input: input
- - Topic subscription: `/register_server [service/service]`
+ - Input: /dialogue_start/status
+ - Topic subscription: `/humans/persons/<id>/softbiometrics [hri_msgs/Softbiometrics]`
#### Outputs
@@ -763,151 +675,119 @@ Source code repository: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/int
- Output: /navigation goals
- Output: /look_at goals
- Output: gestures
+ - Topic publication: `/RPN [action/action]`
+
+ - Output: /social_strategy_supervisor_server/goal
#### Dependencies
-- `service/service`
- `action/action`
- `std_msgs/Empty`
-- `hri_msgs/Softbiometrics`
-- `ControllerStatus/ControllerStatus`
- `JSON String/JSON String`
+- `service/service`
+- `ControllerStatus/ControllerStatus`
+- `hri_msgs/Softbiometrics`
-### interaction_manager_msgs {#interaction_manager_msgs}
-
-
-
-*The node interaction_manager_msgs (id: `interaction_manager_msgs`) is maintained by HWU.*
-
-#### Status
-
-Implemented. Current release/branch: spring_dev
-
-Source code repository: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager_msgs NOT EXECUTABLE](git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:interaction_manager_msgs NOT EXECUTABLE)
-
-
-#### Inputs
-
-
-#### Outputs
-
-
-
-
-
-### recipe_planner {#recipe_planner}
-
+### nlp_node {#nlp_node}
+
-*The node recipe_planner (id: `recipe_planner`) is maintained by HWU.*
+*The node nlp_node (id: `nlp_node`) is maintained by HWU.*
#### Status
-Implemented. Current release/branch: spring_dev
+Implemented. Current release/branch: 0.0.1
-Source code repository: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git](git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git)
+Source code repository: []()
#### Inputs
- - Input: semantic scene description
- - Topic subscription: `/task*_ros_server_action [action/action]`
-
- - Input: PDDL yaml library
- - Topic subscription: `/humans/persons/<id>/softbiometrics [hri_msgs/Softbiometrics]`
+ - Topic subscription: `/nlp_node/get_answer [service/service]`
#### Outputs
- - Output: /queries
- - Output: /updates
- - Topic publication: `/RPN [action/action]`
-
- - Topic publication: `/register_server [service/service]`
+ - Topic publication: `/nlp_node/nlu [JSON String/JSON String]`
#### Dependencies
-- `std_msgs/Empty`
-- `action/action`
- `service/service`
-- `hri_msgs/Softbiometrics`
+- `JSON String/JSON String`
-### robot_behaviour_msgs {#robot_behaviour_msgs}
+### recipe_planner {#recipe_planner}
-*The node robot_behaviour_msgs (id: `robot_behaviour_msgs`) is maintained by HWU.*
+*The node recipe_planner (id: `recipe_planner`) is maintained by HWU.*
#### Status
Implemented. Current release/branch: spring_dev
-Source code repository: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git SUBFOLDER:robot_behaviour_msgs NOT EXECUTABLE](git@gitlab.inria.fr:spring/wp5_spoken_conversations/plan_actions.git SUBFOLDER:robot_behaviour_msgs NOT EXECUTABLE)
+Source code repository: [https://gitlab.inria.fr/spring/wp5_spoken_conversations/plan_actions.git](https://gitlab.inria.fr/spring/wp5_spoken_conversations/plan_actions.git)
#### Inputs
+ - Input: semantic scene description
+ - Topic subscription: `/task*_ros_server_action [action/action]`
-#### Outputs
-
-
-
-
-
-### ros_petri_net_node {#ros_petri_net_node}
-
- ros_petri_net_node is...
-
-*The node ros_petri_net_node (id: `ros_petri_net_node`) is maintained by HWU.*
-
-#### Status
-
-Implemented. Current release/branch: 0.0.1
-
-Source code repository: []()
-
+ - Input: PDDL yaml library
+ - Topic subscription: `/humans/persons/<id>/softbiometrics [hri_msgs/Softbiometrics]`
-#### Inputs
- - Topic subscription: `/RPN [action server/action server]`
+#### Outputs
+ - Output: /queries
+ - Output: /updates
+ - Topic publication: `/RPN [action/action]`
-#### Outputs
+ - Topic publication: `/register_server [service/service]`
#### Dependencies
-- `action server/action server`
+- `std_msgs/Empty`
+- `action/action`
+- `service/service`
+- `hri_msgs/Softbiometrics`
-### social_scene_msgs {#social_scene_msgs}
+### ros_petri_net_node {#ros_petri_net_node}
-*The node social_scene_msgs (id: `social_scene_msgs`) is maintained by HWU.*
+*The node ros_petri_net_node (id: `ros_petri_net_node`) is maintained by HWU.*
#### Status
-Implemented. Current release/branch: spring_dev
+Implemented. Current release/branch: 0.0.1
-Source code repository: [git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:social_scene_msgs NOT EXECUTABLE](git@gitlab.inria.fr:spring/wp5_spoken_conversations/interaction.git SUBFOLDER:social_scene_msgs NOT EXECUTABLE)
+Source code repository: [https://gitlab.inria.fr/spring/wp5_spoken_conversations/ros_petri_net_planner](https://gitlab.inria.fr/spring/wp5_spoken_conversations/ros_petri_net_planner)
#### Inputs
+ - Topic subscription: `/RPN [action server/action server]`
+
#### Outputs
+#### Dependencies
+
+- `action server/action server`
+
@@ -926,16 +806,28 @@ Source code repository: []()
#### Inputs
- - Input: /humans/persons/tracked
- - Input: kb
+ - Input: /h/p/tracked
+ - Topic subscription: `/kb/query [service/service]`
+
+ - Input: /h/p/*
+ - Input: /h/b/tracked
+ - Input: /h/b/*
+ - Input: /h/f/*
+ - Topic subscription: `/social_state_analyzer_server [action_server/action_server]`
+
+ - Input: /h/f/tracked
#### Outputs
- - Output: output?
+ - Topic publication: `/social_state_analyser/state [std_msgs/String]`
+
#### Dependencies
- `std_msgs/Empty`
+- `service/service`
+- `std_msgs/String`
+- `action_server/action_server`
@@ -955,14 +847,21 @@ Source code repository: []()
#### Inputs
+ - Topic subscription: `/social_state_analyser/state [std_msgs/String]`
+
+ - Topic subscription: `/social_strategy_supervisor_server [action_server/action_server]`
+
#### Outputs
- - Output: output?
+ - Output: /look_at goals
+ - Output: /go_to goals
#### Dependencies
- `std_msgs/Empty`
+- `std_msgs/String`
+- `action_server/action_server`
@@ -1001,64 +900,9 @@ Source code repository: [https://gitlab.inria.fr/spring/wp3_av_perception/docker
#### Dependencies
-- `std_msgs/Empty`
-- `sensor_msgs/CompressedImage`
- `sensor_msgs/Image`
-
-
-
-
-### behavior_generator {#behavior_generator}
-
- The code is primarily developed at INRIA by Timothée Wintz.
-
-*The node behavior_generator (id: `behavior_generator`) is maintained by INRIA.*
-
-#### Status
-
-Implemented. Current release/branch: devel
-
-Source code repository: [ https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior]( https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior)
-
-
-#### Inputs
-
- - Input: /h/p/tracked
- - Topic subscription: `/look_at [LookAt/LookAt]`
-
- - Topic subscription: `/go_towards [GoTowards/GoTowards]`
-
- - Input: `tf: /body_*` (tf)
- - Input: /h/b/tracked
- - Input: `tf: /person_*` (tf)
- - Topic subscription: `/navigate [Navigate/Navigate]`
-
- - Topic subscription: `/slam/local_map [OccupancyGrid/OccupancyGrid]`
-
- - Input: /h/g/tracked
- - Input: /joint_states
- - Input: `tf: /group_*` (tf)
-
-#### Outputs
-
- - Output: /controller_status
- - Topic publication: `/head_controller/command [JointTrajectory/JointTrajectory]`
-
- - Output: `tf: /final_point /nav_goal... ` (tf)
- - Topic publication: `/nav_vel [Twist/Twist]`
-
-
-#### Dependencies
-
- `std_msgs/Empty`
-- `LookAt/LookAt`
-- `GoTowards/GoTowards`
-- `JointTrajectory/JointTrajectory`
-- `tf/transform_listener`
-- `Navigate/Navigate`
-- `OccupancyGrid/OccupancyGrid`
-- `tf/transform_broadcaster`
-- `Twist/Twist`
+- `sensor_msgs/CompressedImage`
@@ -1078,10 +922,10 @@ Source code repository: []()
#### Inputs
- - Topic subscription: `/front_camera/fisheye/image_raw [sensor_msgs/Image]`
-
- Topic subscription: `/humans/bodies/<id>/skeleton2d [hri_msg/Skeleton2D]`
+ - Topic subscription: `/front_camera/fisheye/image_raw [sensor_msgs/Image]`
+
- Topic subscription: `/tracker/tracker_output [std_msgs/String]`
@@ -1093,9 +937,9 @@ Source code repository: []()
#### Dependencies
-- `sensor_msgs/Image`
- `tf/transform_broadcaster`
- `hri_msg/Skeleton2D`
+- `sensor_msgs/Image`
- `std_msgs/String`
- `hri_msgs/IdsList`
@@ -1140,11 +984,11 @@ Source code repository: [node associates detected bodies to detected faces in im
-### front_fisheye_2d_body_pose_detector {#front_fisheye_2d_body_pose_detector}
+### front_fisheye_2d_body_pose_detector_op {#front_fisheye_2d_body_pose_detector_op}
Based on OpenPOSE
-*The node front_fisheye_2d_body_pose_detector (id: `front_fisheye_2d_body_pose_detector`) is maintained by INRIA.*
+*The node front_fisheye_2d_body_pose_detector_op (id: `front_fisheye_2d_body_pose_detector_op`) is maintained by INRIA.*
#### Status
@@ -1174,11 +1018,11 @@ Source code repository: [https://gitlab.inria.fr/spring/wp3_av_perception/front_
-### front_fisheye_body_tracker {#front_fisheye_body_tracker}
+### front_fisheye_2d_body_tracker {#front_fisheye_2d_body_tracker}
+
- 2D body detector and tracker, based on the FairMOT algorithm. This code is primarily developed at INRIA by Luis Gomez Camara.
-*The node front_fisheye_body_tracker (id: `front_fisheye_body_tracker`) is maintained by INRIA.*
+*The node front_fisheye_2d_body_tracker (id: `front_fisheye_2d_body_tracker`) is maintained by INRIA.*
#### Status
@@ -1261,9 +1105,9 @@ Source code repository: []()
#### Inputs
+ - Input: goal
- Topic subscription: `/controller_status [ControllerStatus/ControllerStatus]`
- - Input: goal
#### Outputs
@@ -1273,8 +1117,8 @@ Source code repository: []()
#### Dependencies
- `GoTowards/GoTowards`
-- `ControllerStatus/ControllerStatus`
- `std_msgs/Empty`
+- `ControllerStatus/ControllerStatus`
@@ -1365,11 +1209,11 @@ Source code repository: [https://gitlab.inria.fr/spring/wp4_behavior/group_detec
#### Outputs
- - Topic publication: `/humans/group/<id>/ [hri_msgs/IdList]`
-
- Topic publication: `/h/g/tracked [hri_msgs/IdList]`
- Output: `tf: /group_*` (tf)
+ - Topic publication: `/humans/group/<id>/ [hri_msgs/IdList]`
+
#### Dependencies
@@ -1416,7 +1260,7 @@ Source code repository: []()
### look_at_person_server {#look_at_person_server}
-
+
*The node look_at_person_server (id: `look_at_person_server`) is maintained by INRIA.*
@@ -1449,7 +1293,7 @@ Source code repository: []()
### look_at_position_action_server {#look_at_position_action_server}
-
+
*The node look_at_position_action_server (id: `look_at_position_action_server`) is maintained by INRIA.*
@@ -1462,9 +1306,9 @@ Source code repository: []()
#### Inputs
+ - Input: goal
- Topic subscription: `/controller_status [ControllerStatus/ControllerStatus]`
- - Input: goal
#### Outputs
@@ -1473,9 +1317,9 @@ Source code repository: []()
#### Dependencies
-- `ControllerStatus/ControllerStatus`
-- `Navigate/Navigate`
- `std_msgs/Empty`
+- `Navigate/Navigate`
+- `ControllerStatus/ControllerStatus`
@@ -1538,19 +1382,66 @@ This node is not yet implemented.
-## Other
+### social_mpc {#social_mpc}
+
+ The code is primarily developed at INRIA by Timothée Wintz.
+*The node social_mpc (id: `social_mpc`) is maintained by INRIA.*
+#### Status
-## PAL
+Implemented. Current release/branch: devel
+Source code repository: [ https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior]( https://gitlab.inria.fr/spring/wp6_robot_behavior/robot_behavior)
-### fisheye {#fisheye}
+#### Inputs
+ - Input: /h/p/tracked
+ - Topic subscription: `/look_at [LookAt/LookAt]`
+
+ - Topic subscription: `/go_towards [GoTowards/GoTowards]`
+
+ - Input: `tf: /body_*` (tf)
+ - Input: /h/b/tracked
+ - Input: `tf: /person_*` (tf)
+ - Topic subscription: `/navigate [Navigate/Navigate]`
+
+ - Topic subscription: `/slam/local_map [OccupancyGrid/OccupancyGrid]`
+
+ - Input: /h/g/tracked
+ - Input: /joint_states
+ - Input: `tf: /group_*` (tf)
+
+#### Outputs
+
+ - Output: /controller_status
+ - Output: `tf: /final_point /nav_goal... ` (tf)
+ - Topic publication: `/nav_vel [Twist/Twist]`
+
+ - Topic publication: `/head_controller/command [JointTrajectory/JointTrajectory]`
+
+
+#### Dependencies
+
+- `std_msgs/Empty`
+- `LookAt/LookAt`
+- `GoTowards/GoTowards`
+- `tf/transform_listener`
+- `Navigate/Navigate`
+- `OccupancyGrid/OccupancyGrid`
+- `tf/transform_broadcaster`
+- `Twist/Twist`
+- `JointTrajectory/JointTrajectory`
-*The node fisheye (id: `fisheye`) is maintained by PAL.*
+
+
+### voicebodycandidatematches {#voicebodycandidatematches}
+
+
+
+*The node voicebodycandidatematches (id: `voicebodycandidatematches`) is maintained by INRIA.*
#### Status
@@ -1561,30 +1452,44 @@ Source code repository: []()
#### Inputs
+ - Input: /humans/voices/tracked
+ - Input: `tf: /voice_*` (tf)
+ - Input: /humans/bodies/tracked
+ - Input: `tf: /body_*` (tf)
#### Outputs
- - Topic publication: `/torso_front_camera/color/image_raw [sensor_msgs/Image]`
+ - Topic publication: `/humans/candidate_matches [hri_msgs/IdsMatch]`
#### Dependencies
-- `sensor_msgs/Image`
+- `std_msgs/Empty`
+- `tf/transform_listener`
+- `hri_msgs/IdsMatch`
+
+## Other
+
+
+
+## PAL
+
-### hri_msgs {#hri_msgs}
+
+### fisheye {#fisheye}
-*The node hri_msgs (id: `hri_msgs`) is maintained by PAL.*
+*The node fisheye (id: `fisheye`) is maintained by PAL.*
#### Status
-Implemented. Current release/branch: 0.1.1
+Implemented. Current release/branch: 0.0.1
-Source code repository: [ git@gitlab:ros4hri/hri_msgs.git NOT EXECUTABLE]( git@gitlab:ros4hri/hri_msgs.git NOT EXECUTABLE)
+Source code repository: []()
#### Inputs
@@ -1592,6 +1497,12 @@ Source code repository: [ git@gitlab:ros4hri/hri_msgs.git NOT EXECUTABLE]( git@g
#### Outputs
+ - Topic publication: `/torso_front_camera/color/image_raw [sensor_msgs/Image]`
+
+
+#### Dependencies
+
+- `sensor_msgs/Image`
@@ -1606,7 +1517,7 @@ Source code repository: [ git@gitlab:ros4hri/hri_msgs.git NOT EXECUTABLE]( git@g
Implemented. Current release/branch: master
-Source code repository: [git@gitlab.inria.fr:spring/wp7_ari/hri_person_manager.git](git@gitlab.inria.fr:spring/wp7_ari/hri_person_manager.git)
+Source code repository: [https://gitlab.inria.fr/spring/wp7_ari/hri_person_manager.git](https://gitlab.inria.fr/spring/wp7_ari/hri_person_manager.git)
#### Inputs
@@ -1625,8 +1536,8 @@ Source code repository: [git@gitlab.inria.fr:spring/wp7_ari/hri_person_manager.g
- `std_msgs/Empty`
- `hri_msgs/IdsList`
-- `hri_msgs/IdsMatch`
- `tf/transform_broadcaster`
+- `hri_msgs/IdsMatch`
@@ -1651,7 +1562,7 @@ Source code repository: [https://gitlab.inria.fr/spring/wp7_ari/knowledge_core](
#### Outputs
- - Output: service: /kb/query
+ - Output: /kb/query [service]
#### Dependencies
@@ -1739,8 +1650,6 @@ Source code repository: []()
- Topic publication: `/audio/raw_audio [audio_common_msgs/AudioData]`
- - Topic publication: `/audio/ego_audio [audio_common_msgs/AudioData]`
-
#### Dependencies
@@ -1765,6 +1674,8 @@ Source code repository: []()
#### Inputs
- Input: input
+ - Topic subscription: `/tts [action_server/action_server]`
+
#### Outputs
@@ -1773,28 +1684,7 @@ Source code repository: []()
#### Dependencies
- `std_msgs/Empty`
-
-
-
-
-### spring_msgs {#spring_msgs}
-
-
-
-*The node spring_msgs (id: `spring_msgs`) is maintained by PAL.*
-
-#### Status
-
-Implemented. Current release/branch: 0.0.2
-
-Source code repository: [git@gitlab.inria.fr:spring/wp7_ari/spring_msgs.git NOT EXECUTABLE](git@gitlab.inria.fr:spring/wp7_ari/spring_msgs.git NOT EXECUTABLE)
-
-
-#### Inputs
-
-
-#### Outputs
-
+- `action_server/action_server`
@@ -1843,7 +1733,9 @@ Source code repository: []()
#### Status
-This node is not yet implemented.
+Implemented. Current release/branch: 0.0.1
+
+Source code repository: []()
#### Inputs
@@ -1857,8 +1749,8 @@ This node is not yet implemented.
#### Dependencies
-- `human_2d_pose_estimation/Frame`
- `std_msgs/Empty`
+- `human_2d_pose_estimation/Frame`
@@ -1978,10 +1870,10 @@ Source code repository: []()
- Topic subscription: `/*_basestation/head_front_camera/... [sensor_msgs/Image]`
- - Topic subscription: `/humans/faces/TEST_ID_FACE/roi [sensor_msgs/RegionOfInterest]`
-
- Topic subscription: `/depth_estimation [sensor_msgs/Image]`
+ - Topic subscription: `/humans/faces/TEST_ID_FACE/roi [sensor_msgs/RegionOfInterest]`
+
#### Outputs
@@ -2029,7 +1921,7 @@ Source code repository: [https://gitlab.inria.fr/spring/wp4_behavior/human-2d-po
### mask_detector {#mask_detector}
- Detects presence of a facial mask
+
*The node mask_detector (id: `mask_detector`) is maintained by UNITN.*
@@ -2052,15 +1944,15 @@ Source code repository: [https://gitlab.inria.fr/spring/wp4_behavior/mask-detect
#### Dependencies
-- `wp4_msgs/FaceMask`
- `sensor_msg/Image`
+- `wp4_msgs/FaceMask`
### soft_biometrics_estimator {#soft_biometrics_estimator}
- Detects age/gender
+
*The node soft_biometrics_estimator (id: `soft_biometrics_estimator`) is maintained by UNITN.*
@@ -2068,17 +1960,17 @@ Source code repository: [https://gitlab.inria.fr/spring/wp4_behavior/mask-detect
Implemented. Current release/branch: master
-Source code repository: [git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git](git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git)
+Source code repository: [https://gitlab.inria.fr/spring/wp4_behavior/wp4_behavior_understanding SUBFOLDER:wp4_people_characteristics BIN:soft_biometrics_estimator.py](https://gitlab.inria.fr/spring/wp4_behavior/wp4_behavior_understanding SUBFOLDER:wp4_people_characteristics BIN:soft_biometrics_estimator.py)
#### Inputs
+ - Topic subscription: `/*_basestation/head_front_camera/... [sensor_msgs/Image]`
+
- Topic subscription: `/humans/faces/tracked [hri_msgs/IdsList]`
- Topic subscription: `/humans/faces/TEST_ID_FACE/roi [hri_msgs/NormalizedRegionOfInterest2D]`
- - Topic subscription: `/*_basestation/head_front_camera/... [sensor_msgs/Image]`
-
#### Outputs
@@ -2089,35 +1981,13 @@ Source code repository: [git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_un
#### Dependencies
-- `hri_msgs/IdsList`
-- `hri_msgs/NormalizedRegionOfInterest2D`
- `face reco/face reco`
- `sensor_msgs/Image`
+- `hri_msgs/IdsList`
+- `hri_msgs/NormalizedRegionOfInterest2D`
- `hri_msgs/SoftBiometrics`
-### wp4_msgs {#wp4_msgs}
-
-
-
-*The node wp4_msgs (id: `wp4_msgs`) is maintained by UNITN.*
-
-#### Status
-
-Implemented. Current release/branch: master
-
-Source code repository: [git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git SUBFOLDER:wp4_msgs NOT EXECUTABLE](git@gitlab.inria.fr:spring/wp4_behavior/wp4_behavior_understanding.git SUBFOLDER:wp4_msgs NOT EXECUTABLE)
-
-
-#### Inputs
-
-
-#### Outputs
-
-
-
-
-