semio_ros  0.10.6
semio_msgs_ros

Table of Contents

Overview

ROS messages for Semio software.

Attention

Targets

  • AttentionTargets.msg
    1 # List of attention targets
    2 semio_msgs_ros/AttentionTarget[] targets
    • AttentionTarget.msg
      1 # Target name; should be unique in the given context
      2 string name
      3 
      4 # Position of the target in the global coordinate system
      5 geometry_msgs/Point position

Recognition

  • AttentionRecognitionResult.msg
    1 # List of Humanoids containing attention sources (joints)
    2 semio_msgs_ros/AttentionRecognitionHumanoidItem[] humanoids
    • AttentionRecognitionHumanoidItem.msg
      1 # ID of the Humanoid used for recognition
      2 uint32 id
      3 
      4 # List of attention sources within the humanoid
      5 semio_msgs_ros/AttentionRecognitionJointItem[] joints
      • AttentionRecognitionJointItem.msg
        1 # ID of the HumanoidJoint acting as the attention source
        2 uint32 id
        3 
        4 # Top-N list of targets being attended to
        5 semio_msgs_ros/AttentionRecognitionTopNItem[] top_n_list

Deixis

Targets

  • DeicticTargets.msg
    1 # List of deictic targets
    2 semio_msgs_ros/DeicticTarget[] targets
    • DeicticTarget.msg
      1 # Target name; should be unique in the given context
      2 string name
      3 
      4 # Position of the target in the global coordinate system
      5 geometry_msgs/Point position

Recognition

  • DeicticRecognitionResult.msg
    1 semio_msgs_ros/DeicticRecognitionHumanoidItem[] humanoids
    • DeicticRecognitionHumanoidItem.msg
      1 # ID of the Humanoid used for recognition
      2 uint32 id
      3 
      4 # List of diectic sources within the humanoid
      5 semio_msgs_ros/DeicticRecognitionSourceItem[] sources
      • DeicticRecognitionSourceItem.msg
        1 # Name of the object acting as the deictic source
        2 string name
        3 
        4 # Top-N list of targets being pointed to
        5 semio_msgs_ros/DeicticRecognitionTopNItem[] top_n_list
        • DeicticRecognitionTopNItem.msg
          1 # Recognition likelihood value
          2 float64 likelihood
          3 
          4 # Name of the target being pointed to
          5 string target_name

Humanoid

  • Humanoids.msg
    1 # List of humanoids
    2 semio_msgs_ros/Humanoid[] humanoids
    • Humanoid.msg
      1 # Not tracked
      2 uint32 TRACKING_STATE_NONE = 0
      3 
      4 # System is aware of humanoid but has not started tracking
      5 uint32 TRACKING_STATE_CALIBRATING = 1
      6 
      7 # System is actively tracking the humanoid
      8 uint32 TRACKING_STATE_TRACKED = 2
      9 
      10 uint32 TRACKING_STATE_CALIBRATION_ERROR_NOT_IN_POSE = 3
      11 uint32 TRACKING_STATE_CALIBRATION_ERROR_HANDS = 4
      12 uint32 TRACKING_STATE_CALIBRATION_ERROR_HEAD = 5
      13 uint32 TRACKING_STATE_CALIBRATION_ERROR_LEGS = 6
      14 uint32 TRACKING_STATE_CALIBRATION_ERROR_TORSO = 7
      15 
      16 # The ID of the humanoid (should be unique within a given context)
      17 uint32 id
      18 
      19 # The tracking state of the humanoid (TRACKING_STATE_* above)
      20 uint32 tracking_state
      21 
      22 # The humanoid's explicit joint definitions
      23 semio_msgs_ros/HumanoidJoint[] joints
      • HumanoidJoint.msg
        1 uint32 TYPE_EYES = 0
        2 uint32 TYPE_HEAD = 1
        3 uint32 TYPE_NECK = 2
        4 uint32 TYPE_LEFT_SHOULDER = 3
        5 uint32 TYPE_RIGHT_SHOULDER = 4
        6 uint32 TYPE_LEFT_ELBOW = 5
        7 uint32 TYPE_RIGHT_ELBOW = 6
        8 uint32 TYPE_LEFT_HAND = 7
        9 uint32 TYPE_RIGHT_HAND = 8
        10 uint32 TYPE_TORSO = 9
        11 uint32 TYPE_LEFT_HIP = 10
        12 uint32 TYPE_RIGHT_HIP = 11
        13 uint32 TYPE_LEFT_KNEE = 12
        14 uint32 TYPE_RIGHT_KNEE = 13
        15 uint32 TYPE_LEFT_FOOT = 14
        16 uint32 TYPE_RIGHT_FOOT = 15
        17 uint32 TYPE_ROOT = 16
        18 uint32 TYPE_BASE = 17
        19 uint32 TYPE_WAIST = 18
        20 
        21 # Joint type (TYPE_* above)
        22 uint32 type
        23 
        24 # Joint position
        25 geometry_msgs/Point position
        26 
        27 # Joint orientation
        28 geometry_msgs/Quaternion orientation
        29 
        30 # Confidence of joint's position: [0,1]
        31 # 0 indicates that the position should be treated as undefined
        32 float32 position_confidence
        33 
        34 # Confidence of joint's orientation: [0,1]
        35 # 0 indicates that the orientation should be treated as undefined
        36 float32 orientation_confidence