ROS interface definitions

Message, service and action definitions selected by the current CMake build files. --- separates request/response or action goal/result/feedback sections. Runtime topic names and QoS require the node guides.

msg/Action (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/Action.msg

std_msgs/Header header
string[] actions
float32[] confidences

msg/AudioStream (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/AudioStream.msg

std_msgs/Header header

uint8 encoding

uint8 SINT_8_PCM=0
uint8 UINT_8_PCM=1
uint8 SINT_16_PCM=2
uint8 SINT_24_PCM=3
uint8 SINT_32_PCM=4
uint8 FLOAT_32=5
uint8 FLOAT_64=6

uint8  is_bigendian
uint8  channels
uint32 sample_rate

# interleaved channels
uint8[]  data

msg/Body2 (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/Body2.msg

std_msgs/Header header
string id
geometry_msgs/Point location
sensor_msgs/RegionOfInterest bounding_box
geometry_msgs/Point[] landmarks
string[] landmarks_names

msg/ChatMessage (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/ChatMessage.msg

string utterance
string lang
uint8 confidence
string source
string audio_path
string metadata_json

msg/ChatResponse (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/ChatResponse.msg

string text
string lang
string label
string request_id
string agent_id
string response_id

msg/ChatResponses (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/ChatResponses.msg

ChatResponse[] responses

msg/Detection (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/Detection.msg

std_msgs/Header header
string id # unique tracking ID
string class_label # class
float32 confidence # confidence of deteciton
float32 rank # ranks of the detections
float32 time_tracked # time tracked of the detection
float32 is_speaking # speaking status of the detection
float32 fov_angle # position in the camera's fov
float32 distance # distance from the robot
bool active # is the detection currently being tracked

msg/Detections (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/Detections.msg

std_msgs/Header header
hr_msgs/Detection[] detection

msg/Event (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/Event.msg

string event
float64 time

msg/EventMessage (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/EventMessage.msg

builtin_interfaces/Time stamp
string type
string payload

msg/Face2 (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/Face2.msg

std_msgs/Header header
string id
geometry_msgs/Point location
sensor_msgs/RegionOfInterest bounding_box
geometry_msgs/Point[] landmarks
geometry_msgs/Pose head_pose
geometry_msgs/Pose left_gaze
geometry_msgs/Pose right_gaze
geometry_msgs/Vector3 gaze_angle
hr_msgs/FacialActionUnit[] action_units
float32 gaze_angle_deg

msg/FacialActionUnit (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/FacialActionUnit.msg

string name
float64 presence
float64 intensity

msg/MakeFaceExpr (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/MakeFaceExpr.msg

string exprname
float64 intensity

msg/MotorCommand (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/MotorCommand.msg

string joint_name       # Name of the joint (specified in the yaml file), or motor_id for default calibration
float64 position        # Position to move to in radians
float32 speed           # Speed to move at (0.0 - 1.0)
float32 acceleration    # Acceleration to move at (0.0 - 1.0)

msg/MotorState (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/MotorState.msg

float64 timestamp    # motor state is at this time
string name          # motor name
float64 position     # current position (in r/s)
float64 speed        # current speed (in r/s)
float64 load         # current load - ratio of applied torque over maximum torque
float64 voltage      # current voltage (V)
int32 temperature    # current temperature (degrees Celsius)
bool torque_enabled  # indicates enabled torque on motor
float64 torque_limit # current limit applied on motor (0-1)
uint8 error_code     # last error codes

# ErrorCodes:
# for general information see http://support.robotis.com/en/product/actuator/dynamixel/communication/dxl_packet.htm
#
# a value of 0xff(255) means, the motor is in simulation mode
# a value of 0x80(128) means, the motor is offline (no power?)

msg/MotorStateList (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/MotorStateList.msg

# List of all motor states
MotorState[] motor_states

msg/Object2 (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/Object2.msg

std_msgs/Header header
string id
geometry_msgs/Point location
sensor_msgs/RegionOfInterest bounding_box
string class_label
float32 confidence

msg/Objects2 (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/Objects2.msg

std_msgs/Header header
hr_msgs/Object2[] detections

msg/OnsetMessage (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/OnsetMessage.msg

float32[] onset
float32[] pitch
float32[] notes
float32[] tempo

msg/Pau (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/Pau.msg

geometry_msgs/Quaternion m_head_rotation
geometry_msgs/Vector3    m_head_translation
geometry_msgs/Quaternion m_neck_rotation

float32 m_eye_gaze_left_pitch
float32 m_eye_gaze_left_yaw
float32 m_eye_gaze_right_pitch
float32 m_eye_gaze_right_yaw

# An array of blendshape coefficients.
# They describe an expression of a virtual face.
float32[] m_coeffs
# When setting shapekey values, names must be passed.
string[] m_shapekeys

# An array of arm/hand joint angles.
float32[] m_angles
string[] m_joints

msg/People2 (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/People2.msg

std_msgs/Header header
Person2[] people

msg/Person2 (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/Person2.msg

std_msgs/Header header # ROS message header
string id # Tracking ID
geometry_msgs/Point location # Point in 3D space
sensor_msgs/RegionOfInterest bounding_box # 2D bounding box
string class_label # name of the detected class
float32 confidence # confidence of deteciton
hr_msgs/Face2 face # facial features (gaze angle, landmarks, facial recognition, bbox)
hr_msgs/Body2 body # pose features (keypoints, bbox)
hr_msgs/Action action # actions from keypoints and their confidences

msg/PlayAnimation (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/PlayAnimation.msg

string animation
int64 fps

msg/SetAnimation (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/SetAnimation.msg

string name
int32 repeat
float32 speed
float32 magnitude

msg/SetExpression (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/SetExpression.msg

string name
float32 magnitude
builtin_interfaces/Duration duration

msg/SomaState (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/SomaState.msg

string name
float32 magnitude
float32 rate
builtin_interfaces/Duration ease_in

msg/SomaStates (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/SomaStates.msg

SomaState[] data

msg/TTS (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/TTS.msg

string text
string lang
string request_id
string agent_id
string audio_path
string voice

msg/TTSItem (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/TTSItem.msg

string type
string value
float32 start
float32 end

msg/Target (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/Target.msg

float32 x
float32 y
float32 z
float32 speed

msg/TargetPosture (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/TargetPosture.msg

# defines the motor values
string[]  names
float64[] values

msg/Viseme (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/Viseme.msg

string name
float32 start
builtin_interfaces/Duration duration
float32 rampin
float32 rampout
float32 magnitude

msg/Visemes (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/msg/Visemes.msg

Viseme[] data

srv/AgentChat (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/AgentChat.srv

string text
string lang
string session
string request_id
---
int32 state
string answer
float64 score

srv/AgentFeedback (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/AgentFeedback.srv

string request_id
bool hybrid
bool chosen
---
bool success

srv/AgentRegister (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/AgentRegister.srv

string node
int32 level
int32 level_priority
float64 weight
string[] languages
int32 ttl
---
bool success
string message

srv/AgentUnregister (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/AgentUnregister.srv

string node
---
bool success
string message

srv/Current (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/Current.srv

---
string performance
float32 current_time
bool running
bool paused

srv/ExtractFaceEmbedding (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/ExtractFaceEmbedding.srv

string request_id
string image_base64
string options_json
---
bool ok
string error
string result_json

srv/GetAnimationLength (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/GetAnimationLength.srv

string animation
---
float32 length

srv/GetInteger (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/GetInteger.srv

---
int32 value

srv/GetIntent (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/GetIntent.srv

string text
string lang
---
string intent
float64 confidence

srv/GetMode (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/GetMode.srv

---
uint16 value

srv/Load (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/Load.srv

string id
---
bool success
string performance

srv/LoadPerformance (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/LoadPerformance.srv

string performance
---
bool success

srv/MotionManagement (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/MotionManagement.srv

# action applied to motion
int32 ACTIVATE_MOTION=1
int32 DEACTIVATE_MOTION=2
int32 action

# name of motion
string motion_name
---
# indicates if the request was successful
bool success

# error messages with reason why it was not successful
string error_message

srv/MotorValuesBool (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/MotorValuesBool.srv

# names and values must have same length
string[]  names
bool[] values
---

srv/Pause (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/Pause.srv

---
bool success
float64 time

srv/PerformanceCommand (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/PerformanceCommand.srv

---
bool success
float64 time

srv/Resume (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/Resume.srv

---
bool success
float64 time

srv/Run (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/Run.srv

float64 start_time
---
bool success

srv/RunByName (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/RunByName.srv

string id
---
bool success

srv/SetActuatorsControl (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/SetActuatorsControl.srv

# action applied to list of motors or motor groups
int32 CONTROL_DISABLE=0
int32 CONTROL_MANUAL=1
int32 CONTROL_ANIMATION=2
int32 control

# name of motion
string[] actuators
---
# indicates if the request was successful
bool success

# error messages with reason why it was not successful
string error

srv/SetMode (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/SetMode.srv

uint16 mode
---
bool result

srv/SetParam (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/SetParam.srv

string key
string value
---
bool success

srv/SetProperties (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/SetProperties.srv

string id
string properties
---
bool success

srv/Stop (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/Stop.srv

---
bool success
float64 time

srv/StringArray (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/StringArray.srv

---
string[] data

srv/StringTrigger (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/StringTrigger.srv

string data
---
bool success
string message

srv/TTSData (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/TTSData.srv

string txt
string lang
---
string data

srv/TTSLength (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/TTSLength.srv

string txt
string lang
---
float32 length

srv/TTSTrigger (head-ros-nodes)

Source: head-ros-nodes/ros/hr_msgs/srv/TTSTrigger.srv

string text
string lang
string request_id
string agent_id
---
bool success
string message

msg/Action (head-perception)

Source: head-perception/ros2_ws/src/hr_msgs/msg/Action.msg

std_msgs/Header header
string[] actions
float32[] confidences

msg/Body2 (head-perception)

Source: head-perception/ros2_ws/src/hr_msgs/msg/Body2.msg

std_msgs/Header header
string id
geometry_msgs/Point location
sensor_msgs/RegionOfInterest bounding_box
geometry_msgs/Point[] landmarks
string[] landmarks_names

msg/Face2 (head-perception)

Source: head-perception/ros2_ws/src/hr_msgs/msg/Face2.msg

std_msgs/Header header
string id
geometry_msgs/Point location
sensor_msgs/RegionOfInterest bounding_box
geometry_msgs/Point[] landmarks
geometry_msgs/Pose head_pose
geometry_msgs/Pose left_gaze
geometry_msgs/Pose right_gaze
geometry_msgs/Vector3 gaze_angle
hr_msgs/FacialActionUnit[] action_units
float32 gaze_angle_deg

msg/FacialActionUnit (head-perception)

Source: head-perception/ros2_ws/src/hr_msgs/msg/FacialActionUnit.msg

string name
float64 presence
float64 intensity

msg/Object2 (head-perception)

Source: head-perception/ros2_ws/src/hr_msgs/msg/Object2.msg

std_msgs/Header header
string id
geometry_msgs/Point location
sensor_msgs/RegionOfInterest bounding_box
string class_label
float32 confidence

msg/Objects2 (head-perception)

Source: head-perception/ros2_ws/src/hr_msgs/msg/Objects2.msg

std_msgs/Header header
hr_msgs/Object2[] detections

msg/Pau (head-perception)

Source: head-perception/ros2_ws/src/hr_msgs/msg/Pau.msg

geometry_msgs/Quaternion m_head_rotation
geometry_msgs/Vector3    m_head_translation
geometry_msgs/Quaternion m_neck_rotation

float32 m_eye_gaze_left_pitch
float32 m_eye_gaze_left_yaw
float32 m_eye_gaze_right_pitch
float32 m_eye_gaze_right_yaw

# An array of blendshape coefficients.
# They describe an expression of a virtual face.
float32[] m_coeffs
# When setting shapekey values, names must be passed.
string[] m_shapekeys

# An array of arm/hand joint angles.
float32[] m_angles
string[] m_joints

msg/People2 (head-perception)

Source: head-perception/ros2_ws/src/hr_msgs/msg/People2.msg

std_msgs/Header header
Person2[] people

msg/Person2 (head-perception)

Source: head-perception/ros2_ws/src/hr_msgs/msg/Person2.msg

std_msgs/Header header # ROS message header
string id # Tracking ID
geometry_msgs/Point location # Point in 3D space
sensor_msgs/RegionOfInterest bounding_box # 2D bounding box
string class_label # name of the detected class
float32 confidence # confidence of deteciton
hr_msgs/Face2 face # facial features (gaze angle, landmarks, facial recognition, bbox)
hr_msgs/Body2 body # pose features (keypoints, bbox)
hr_msgs/Action action # actions from keypoints and their confidences

msg/Target (head-perception)

Source: head-perception/ros2_ws/src/hr_msgs/msg/Target.msg

float32 x
float32 y
float32 z
float32 speed

srv/ExtractFaceEmbedding (head-perception)

Source: head-perception/ros2_ws/src/hr_msgs/srv/ExtractFaceEmbedding.srv

string request_id
string image_base64
string options_json
---
bool ok
string error
string result_json