hr_ros2: ROS 2 declarations
Direct rclpy publisher/subscriber arguments use type, name, callback/QoS ordering. Compatibility wrapper calls include the node as their first argument. Service arguments identify the service type and name. Namespace/remapping and computed names must be resolved from the active launch configuration.
build/lib/hr_ros2/compat.py
Source: head-ros-nodes/ros/hr_ros2/build/lib/hr_ros2/compat.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Subscription | msg_type, topic, callback, topic_qos(depth=depth) |
85 |
| Publisher | msg_type, topic, qos if qos is not None else topic_qos() |
23 |
| Service client | srv_type, service_name |
51 |
launch/asr_online.launch.py
Source: head-ros-nodes/ros/hr_ros2/launch/asr_online.launch.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Launch argument | 'enable_asr', default_value='true' |
12 |
launch/control.launch.py
Source: head-ros-nodes/ros/hr_ros2/launch/control.launch.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Launch argument | name, default_value=default |
11 |
| Launch argument | 'robot_name', default_value=os.environ.get('ROBOT_NAME', 'sophia58') |
16 |
| Launch argument | 'robot_body', default_value=os.environ.get('ROBOT_BODY', 'bodyNO') |
17 |
| Launch argument | 'character', default_value=os.environ.get('HR_CHARACTER', 'sophia') |
18 |
| Launch argument | 'robot_world', default_value=os.environ.get('ROBOT_WORLD', 'lab') |
19 |
| Launch argument | 'behavior_backend', default_value=os.environ.get('BEHAVIOR_BACKEND', 'states') |
20 |
launch/interaction.launch.py
Source: head-ros-nodes/ros/hr_ros2/launch/interaction.launch.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Launch argument | 'robot_name', default_value=os.environ.get('ROBOT_NAME', 'sophia58') |
12 |
| Launch argument | 'robot_body', default_value=os.environ.get('ROBOT_BODY', 'bodyNO') |
13 |
| Launch argument | 'character', default_value=os.environ.get('HR_CHARACTER', 'sophia') |
14 |
| Launch argument | 'robot_world', default_value=os.environ.get('ROBOT_WORLD', 'lab') |
15 |
| Launch argument | 'enable_chatbot', default_value='true' |
16 |
| Launch argument | 'enable_scene_manager', default_value='true' |
17 |
| Launch argument | 'enable_chatbot_services', default_value='true' |
18 |
| Launch argument | 'enable_chatbot_priming', default_value='true' |
19 |
| Launch argument | 'enable_spark', default_value='false' |
20 |
launch/interaction_stack.launch.py
Source: head-ros-nodes/ros/hr_ros2/launch/interaction_stack.launch.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Launch argument | 'robot_name', default_value=os.environ.get('ROBOT_NAME', 'sophia58') |
38 |
| Launch argument | 'robot_body', default_value=os.environ.get('ROBOT_BODY', 'bodyNO') |
39 |
| Launch argument | 'character', default_value=hr_character |
40 |
| Launch argument | 'robot_world', default_value=robot_world |
41 |
| Launch argument | 'behavior_backend', default_value=os.environ.get('BEHAVIOR_BACKEND', 'states') |
42 |
| Launch argument | 'enable_asr', default_value='true' |
43 |
| Launch argument | 'enable_chatbot', default_value='true' |
44 |
| Launch argument | 'enable_scene_manager', default_value='true' |
45 |
| Launch argument | 'enable_chatbot_services', default_value='true' |
46 |
| Launch argument | 'enable_chatbot_priming', default_value='true' |
47 |
| Launch argument | 'enable_llm_tools_server', default_value='true' |
48 |
| Launch argument | 'enable_elevenlabs_agent', default_value='true' |
49 |
| Launch argument | 'enable_browser_audio_bridge', default_value='true' |
50 |
| Launch argument | 'enable_scene_description', default_value='true' |
51 |
| Launch argument | 'enable_spark', default_value='false' |
52 |
| Launch argument | 'enable_n8n', default_value='false' |
53 |
| Launch argument | 'enable_realtime_agents', default_value='false' |
54 |
| Launch argument | 'enable_behavior_support', default_value='true' |
55 |
| Launch argument | 'enable_robot_state_publisher', default_value='true' |
56 |
| Launch argument | 'enable_camera_angle', default_value='true' |
57 |
| Launch argument | 'enable_attention', default_value='true' |
58 |
| Launch argument | 'enable_animation', default_value='true' |
59 |
| Launch argument | 'enable_favorite_animations', default_value='true' |
60 |
| Launch argument | 'enable_people_presence', default_value='true' |
61 |
| Launch argument | 'enable_objects_reducer', default_value='true' |
62 |
| Launch argument | 'enable_tts_talker', default_value='true' |
63 |
| Launch argument | 'enable_audio_lips', default_value='true' |
64 |
| Launch argument | 'enable_tts_suggestions', default_value='true' |
65 |
| Launch argument | 'enable_lang_detector', default_value='true' |
66 |
| Launch argument | 'enable_speech_motion', default_value='true' |
67 |
| Launch argument | 'enable_actuation', default_value=head_actuation_default |
68 |
| Launch argument | 'enable_waist', default_value='true' |
69 |
| Launch argument | 'enable_arms_control', default_value='true' |
70 |
| Launch argument | 'enable_arms_alive', default_value='false' |
71 |
| Launch argument | 'enable_ws_streamer', default_value='true' |
72 |
| Launch argument | 'enable_fake_hardware', default_value='true' |
73 |
| Launch argument | 'enable_feetech', default_value=head_actuation_default |
74 |
| Launch argument | 'enable_blender', default_value='false' |
75 |
| Launch argument | 'blender_background', default_value='true' |
76 |
| Launch argument | 'tts_lang', default_value=os.environ.get('REAL_TTS_LANG', 'en-US') |
77 |
| Launch argument | 'tts_voice', default_value=os.environ.get('REAL_TTS_VOICE', 'cereproc:audrey') |
78 |
| Launch argument | 'hr_config_storage', default_value=hr_config_storage |
79 |
| Launch argument | 'hr_storage_dir', default_value=os.environ.get('HR_STORAGE_DIR', hr_config_storage) |
80 |
| Launch argument | 'config_root', default_value=configs_dir |
81 |
| Launch argument | 'virtual_dir', default_value=virtual_dir |
82 |
| Launch argument | 'performances_dir', default_value=performances_dir |
83 |
| Launch argument | 'hr_character_dir', default_value=hr_character_dir |
84 |
| Launch argument | 'hr_chatbot_world_dir', default_value=chatbot_world_dir |
85 |
| Launch argument | 'hr_chatbot_data_dir', default_value=chatbot_data_dir |
86 |
| Launch argument | 'hr_chatbot_scene_dir', default_value=chatbot_scene_dir |
87 |
| Launch argument | 'clear_params', default_value='true' |
88 |
launch/main_stack.launch.py
Source: head-ros-nodes/ros/hr_ros2/launch/main_stack.launch.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Launch argument | 'robot_name', default_value=os.environ.get('ROBOT_NAME', 'sophia58') |
33 |
| Launch argument | 'robot_body', default_value=os.environ.get('ROBOT_BODY', 'bodyNO') |
34 |
| Launch argument | 'character', default_value=os.environ.get('HR_CHARACTER', 'sophia') |
35 |
| Launch argument | 'robot_world', default_value=os.environ.get('ROBOT_WORLD', 'lab') |
36 |
| Launch argument | 'behavior_backend', default_value=os.environ.get('BEHAVIOR_BACKEND', 'states') |
37 |
| Launch argument | 'enable_asr', default_value='true' |
38 |
| Launch argument | 'enable_chatbot', default_value='true' |
39 |
| Launch argument | 'enable_chatbot_services', default_value='true' |
40 |
| Launch argument | 'enable_chatbot_priming', default_value='true' |
41 |
| Launch argument | 'enable_llm_tools_server', default_value='true' |
42 |
| Launch argument | 'enable_elevenlabs_agent', default_value='true' |
43 |
| Launch argument | 'enable_browser_audio_bridge', default_value='true' |
44 |
| Launch argument | 'enable_scene_description', default_value='true' |
45 |
| Launch argument | 'enable_spark', default_value=_bool_env('SPARK_V2_ENABLED', '0') |
46 |
| Launch argument | 'enable_n8n', default_value='false' |
47 |
| Launch argument | 'enable_realtime_agents', default_value='false' |
48 |
| Launch argument | 'enable_behavior_support', default_value='true' |
49 |
| Launch argument | 'enable_robot_state_publisher', default_value='true' |
50 |
| Launch argument | 'enable_camera_angle', default_value='true' |
51 |
| Launch argument | 'enable_attention', default_value='true' |
52 |
| Launch argument | 'enable_animation', default_value='true' |
53 |
| Launch argument | 'enable_favorite_animations', default_value='true' |
54 |
| Launch argument | 'enable_people_presence', default_value='true' |
55 |
| Launch argument | 'enable_objects_reducer', default_value='true' |
56 |
| Launch argument | 'enable_tts_talker', default_value='true' |
57 |
| Launch argument | 'enable_audio_lips', default_value='true' |
58 |
| Launch argument | 'enable_tts_suggestions', default_value='true' |
59 |
| Launch argument | 'enable_lang_detector', default_value='true' |
60 |
| Launch argument | 'enable_speech_motion', default_value='true' |
61 |
| Launch argument | 'enable_actuation', default_value=head_actuation_default |
62 |
| Launch argument | 'enable_waist', default_value='true' |
63 |
| Launch argument | 'enable_arms_control', default_value='true' |
64 |
| Launch argument | 'enable_arms_alive', default_value='false' |
65 |
| Launch argument | 'enable_ws_streamer', default_value='true' |
66 |
| Launch argument | 'enable_fake_hardware', default_value='true' |
67 |
| Launch argument | 'enable_feetech', default_value=head_actuation_default |
68 |
| Launch argument | 'enable_blender', default_value='true' |
69 |
| Launch argument | 'blender_background', default_value='true' |
70 |
| Launch argument | 'tts_lang', default_value=os.environ.get('REAL_TTS_LANG', 'en-US') |
71 |
| Launch argument | 'tts_voice', default_value=os.environ.get('REAL_TTS_VOICE', 'cereproc:audrey') |
72 |
| Launch argument | 'hr_config_storage', default_value=hr_config_storage |
73 |
| Launch argument | 'hr_storage_dir', default_value=os.environ.get('HR_STORAGE_DIR', hr_config_storage) |
74 |
| Launch argument | 'config_root', default_value=os.environ.get('CONFIGS_DIR', os.path.join(hr_config_storage, 'configs')) |
78 |
| Launch argument | 'virtual_dir', default_value=os.environ.get('VIRTUAL_DIR', os.path.join(hr_config_storage, 'virtual')) |
85 |
| Launch argument | 'performances_dir', default_value=os.environ.get('PERFORMANCES_DIR', os.path.join(hr_config_storage, 'performances')) |
92 |
| Launch argument | 'hr_character_dir', default_value=os.environ.get('HR_CHARACTER_DIR', os.path.join(hr_config_storage, 'characters', os.environ.get('HR_CHARACTER', 'sophia'))) |
99 |
| Launch argument | 'hr_chatbot_world_dir', default_value=os.environ.get('HR_CHATBOT_WORLD_DIR', os.path.join(hr_config_storage, 'characters', os.environ.get('HR_CHARACTER', 'sophia'), 'worlds', os.environ.get('ROBOT_WORLD', 'lab'))) |
106 |
| Launch argument | 'hr_chatbot_data_dir', default_value=os.environ.get('HR_CHATBOT_DATA_DIR', os.path.join(hr_config_storage, 'characters', os.environ.get('HR_CHARACTER', 'sophia'), 'data')) |
119 |
| Launch argument | 'hr_chatbot_scene_dir', default_value=os.environ.get('HR_CHATBOT_SCENE_DIR', os.path.join(hr_config_storage, 'characters', os.environ.get('HR_CHARACTER', 'sophia'), 'scenes')) |
131 |
| Launch argument | 'clear_params', default_value='true' |
143 |
launch/real_control_test.launch.py
Source: head-ros-nodes/ros/hr_ros2/launch/real_control_test.launch.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Launch argument | 'robot_name', default_value='sophia58' |
11 |
| Launch argument | 'robot_body', default_value='bodyNO' |
12 |
| Launch argument | 'character', default_value='sophia' |
13 |
| Launch argument | 'robot_world', default_value='lab' |
14 |
| Launch argument | 'behavior_backend', default_value='states' |
15 |
| Launch argument | 'enable_asr', default_value='true' |
16 |
| Launch argument | 'enable_chatbot', default_value='true' |
17 |
| Launch argument | 'enable_spark', default_value='false' |
18 |
| Launch argument | 'enable_arms_alive', default_value='false' |
19 |
| Launch argument | 'enable_ws_streamer', default_value='true' |
20 |
| Launch argument | 'enable_feetech', default_value='true' |
21 |
| Launch argument | 'enable_blender', default_value='false' |
22 |
| Launch argument | 'blender_background', default_value='true' |
23 |
| Launch argument | 'tts_lang', default_value='en-US' |
24 |
| Launch argument | 'tts_voice', default_value='cereproc:audrey' |
25 |
| Launch argument | 'config_root', default_value='/workspace/hrsdk_configs/configs' |
26 |
| Launch argument | 'clear_params', default_value='true' |
27 |
launch/real_stack_test.launch.py
Source: head-ros-nodes/ros/hr_ros2/launch/real_stack_test.launch.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Launch argument | 'robot_name', default_value='sophia58' |
11 |
| Launch argument | 'robot_body', default_value='bodyNO' |
12 |
| Launch argument | 'character', default_value='sophia' |
13 |
| Launch argument | 'robot_world', default_value='lab' |
14 |
| Launch argument | 'behavior_backend', default_value='states' |
15 |
| Launch argument | 'enable_asr', default_value='true' |
16 |
| Launch argument | 'enable_chatbot', default_value='true' |
17 |
| Launch argument | 'enable_spark', default_value='false' |
18 |
| Launch argument | 'enable_behavior_support', default_value='true' |
19 |
| Launch argument | 'enable_attention', default_value='true' |
20 |
| Launch argument | 'enable_animation', default_value='true' |
21 |
| Launch argument | 'enable_people_presence', default_value='true' |
22 |
| Launch argument | 'enable_objects_reducer', default_value='true' |
23 |
| Launch argument | 'tts_lang', default_value='en-US' |
24 |
| Launch argument | 'tts_voice', default_value='cereproc:audrey' |
25 |
| Launch argument | 'config_root', default_value='/workspace/hrsdk_configs/configs' |
26 |
| Launch argument | 'clear_params', default_value='true' |
27 |
src/hr_ros2/compat.py
Source: head-ros-nodes/ros/hr_ros2/src/hr_ros2/compat.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Subscription | msg_type, topic, callback, topic_qos(depth=depth) |
85 |
| Publisher | msg_type, topic, qos if qos is not None else topic_qos() |
23 |
| Service client | srv_type, service_name |
51 |