semio_attention_ros

Table of Contents

• Overview
• Nodes
  • semio_attention_node
    • C++ API
    • Params
    • Topics
  • example_attention_targets_node
    • C++ API
    • Params
    • Topics

Overview

ROS interface for Semio attention software.

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Nodes

• semio_attention_node
• example_attention_targets_node

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semio_attention_node

C++ API

• SemioAttentionNode

Params

• Any created by:
  • semio::ros::HumanoidSourceAdapter
  • semio::ros::HumanoidSinkAdapter

Topics

Topic	Type	Description
Subscriptions
~targets	semio_msgs_ros/AttentionTargets	Targets that humanoids can attend to
Publications
~result	semio_msgs_ros/AttentionRecognitionResult	Result from semio::AttentionRecognizer

• Any created by:
  • semio::ros::HumanoidSourceAdapter
  • semio::ros::HumanoidSinkAdapter

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example_attention_targets_node

C++ API

• ExampleAttentionTargetsNode

Params

Name	Type	Default	Description
_cols	int32	13	Number of spherical "columns" of targets to create
_rows	int32	7	Number of spherical "rows" of targets to create
_hspacing	float64	15.0	Horizontal angular separation between targets, degrees
_vspacing	float64	15.0	Vertical angular separation between targets, degrees
_radius	float64	2.0	Radius of spherical grid, meters

• Any created by:
  • semio::ros::HumanoidSourceAdapter
  • semio::ros::HumanoidSinkAdapter

Topics

Topic	Type	Description
Publications
~targets	semio_msgs_ros/AttentionTargets	Targets that humanoids can attend to

• Any created by:
  • semio::ros::HumanoidSourceAdapter
  • semio::ros::HumanoidSinkAdapter