r2_behavior: 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.
scripts/animation.py
Source: head-ros-nodes/ros/r2_behavior/scripts/animation.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Publisher | self.node, SetExpression, '/hr/animation/set_expression', depth=10 |
201 |
| Subscription | self.node, SetExpression, '/hr/animation/set_expression', self.expresion_callback, depth=10 |
202 |
| Publisher | self.node, SetAnimation, '/hr/animation/set_animation', depth=10 |
205 |
| Publisher | self.node, SetAnimation, '/hr/animation/set_arm_animation', depth=10 |
206 |
| Service client | self.node, srv.RunByName, '/hr/control/performances/background/run_by_name' |
208 |
scripts/attention.py
Source: head-ros-nodes/ros/r2_behavior/scripts/attention.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Subscription | self.node, Int32, '/hr/perception/sound_direction', self.handle_angle, depth=10 |
661 |
| Subscription | self.node, String, '/hr/perception/hear/event', self.handle_vad, depth=10 |
662 |
| Publisher | self.node, Detections_msg, '/hr/behavior/detections_info', depth=1 |
801 |
| Subscription | self.node, String, '/hr/control/speech/event', self.tts_cb, depth=10 |
817 |
| Publisher | self.node, Target, '/hr/animation/set_face_target', depth=1 |
1171 |
| Publisher | self.node, Target, '/hr/animation/set_gaze_target', depth=1 |
1172 |
| Publisher | self.node, Float32, '/hr/animation/set_head_tilt', depth=1 |
1173 |
| Publisher | self.node, UInt8, '/hr/animation/set_animation_mode', depth=1 |
1174 |
| Retained publisher | self.node, String, '/hr/behavior/current_person' |
1176 |
| Retained publisher | self.node, String, '/hr/behavior/current_face' |
1177 |
| Retained publisher | self.node, String, '/hr/behavior/current_secondary' |
1178 |
| Retained publisher | self.node, Float32, '/hr/behavior/manual_target_timer' |
1179 |
| Subscription | self.node, People2, '/hr/perception/people', self._people_cb, depth=10 |
1182 |
| Subscription | self.node, Objects2, '/hr/perception/objects', self._objects_cb, depth=10 |
1183 |
| Subscription | self.node, Target, '/hr/animation/set_face_target', self.tracking_model.look_at_cmd, depth=10 |
1185 |
scripts/behavior_manager_node.py
Source: head-ros-nodes/ros/r2_behavior/scripts/behavior_manager_node.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Publisher | String, '/behavior/action_dispatch', topic_qos(10) |
108 |
| Publisher | String, '/hr/behavior/current_state', latched_state_qos() |
109 |
| Publisher | String, '/events/main', topic_qos(10) |
110 |
| Subscription | String, '/events/main', self.event_callback, topic_qos(10) |
125 |
| Subscription | String, '/commands/set_situation', self.situation_callback, topic_qos(10) |
126 |
| Subscription | String, '/perception/face_lost', self.face_lost_event_handler, topic_qos(10) |
127 |
| Subscription | People2, '/hr/perception/people', self.people_callback, topic_qos(10) |
128 |
| Subscription | ChatMessage, '/hr/perception/hear/sentence', self.chat_callback, topic_qos(10) |
129 |
| Subscription | String, '/hr/control/speech/event', lambda msg: self.interactive_state.tts_event(msg.data), topic_qos(10) |
130 |
| Subscription | String, '/hr/control/speech/tts_status', self.tts_status_callback, topic_qos(10) |
136 |
| Subscription | String, '/hr/perception/hear/event', lambda msg: self.interactive_state.hearing_event(msg.data), topic_qos(10) |
142 |
| Subscription | String, '/hr/perception/hear/event', self.speech_event_callback, topic_qos(10) |
148 |
| Subscription | String, '/hr/behavior/state_switch', self.legacy_subscriber, topic_qos(10) |
149 |
| Subscription | String, '/hr/behavior/operator_command', self.operator_command_callback, topic_qos(10) |
150 |
scripts/nlp_events_node.py
Source: head-ros-nodes/ros/r2_behavior/scripts/nlp_events_node.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Publisher | self.node, String, '/events/main', depth=10 |
17 |
| Subscription | self.node, String, '/events/main', self.on_event, depth=10 |
18 |
scripts/objects_reducer_node.py
Source: head-ros-nodes/ros/r2_behavior/scripts/objects_reducer_node.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Publisher | self.node, String, '/events/main', depth=10 |
17 |
| ROS parameter | 'min_confidence', 0.6 |
19 |
| ROS parameter | 'frames_required_present', 3 |
20 |
| ROS parameter | 'frame_window_size', 5 |
21 |
| ROS parameter | 'absence_seconds', 1.5 |
22 |
| ROS parameter | 'context_cadence_hz', 2.0 |
23 |
| Subscription | self.node, Objects2, '/hr/perception/objects', self.on_objects, depth=10 |
33 |
scripts/people_presence_node.py
Source: head-ros-nodes/ros/r2_behavior/scripts/people_presence_node.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Publisher | self.node, String, '/events/main', depth=10 |
25 |
| ROS parameter | 'frames_required_present', 2 |
27 |
| ROS parameter | 'frame_window_size', 4 |
28 |
| ROS parameter | 'absence_seconds', 2.0 |
29 |
| Subscription | self.node, People2, '/hr/perception/people', self.on_people, depth=10 |
41 |
scripts/rules_engine_adapter_node.py
Source: head-ros-nodes/ros/r2_behavior/scripts/rules_engine_adapter_node.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Publisher | self.node, String, '/events/main', depth=10 |
27 |
| Subscription | self.node, ChatMessage, '/hr/perception/hear/sentence', self.sentence_callback, depth=10 |
29 |
| Subscription | self.node, String, '/hr/perception/hear/event', self.speech_event_callback, depth=10 |
30 |
| Subscription | self.node, String, '/hr/control/speech/tts_status', self.tts_status_callback, depth=10 |
31 |
| Subscription | self.node, TTS, '/hr/control/speech/say', self.tts_say_callback, depth=10 |
32 |
| Subscription | self.node, People2, '/hr/perception/people', self.people_callback, depth=10 |
33 |
scripts/scene_description_node.py
Source: head-ros-nodes/ros/r2_behavior/scripts/scene_description_node.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Publisher | String, '/events/main', topic_qos(10) |
15 |
scripts/states.py
Source: head-ros-nodes/ros/r2_behavior/scripts/states.py
| Kind | Arguments in source order | Line |
|---|---|---|
| Publisher | String, '/hr/behavior/current_state', latched_state_qos() |
93 |
| Publisher | String, '/hr/control/performances/running_performance', topic_qos(1) |
94 |
| Publisher | ChatMessage, '/hr/interaction/chatbot_input', topic_qos(10) |
97 |
| Service client | RunByName, '/hr/control/performances/run_full_performance' |
99 |
| Subscription | People2, '/hr/perception/people', self.detection_cb, topic_qos(10) |
133 |
| Subscription | Objects2, '/hr/perception/objects', self.detection_cb, topic_qos(10) |
134 |
| Subscription | ChatMessage, '/hr/perception/hear/sentence', self.speech_cb, topic_qos(10) |
135 |
| Subscription | String, '/hr/control/speech/event', self.speech_events_cb, topic_qos(10) |
136 |
| Subscription | String, '/hr/control/speech/tts_status', self.tts_status_cb, topic_qos(10) |
137 |
| Subscription | String, '/hr/perception/hear/event', self.chat_events_cb, topic_qos(10) |
138 |
| Subscription | String, '/hr/control/performances/running_performance', self.performance_cb, topic_qos(10) |
139 |
| Subscription | PerformanceEvent, '/hr/control/performances/events', self.performance_events_cb, topic_qos(10) |
145 |
| Subscription | PerformanceEvent, '/hr/control/performances/background/events', self.performance_bg_events_cb, topic_qos(10) |
151 |
| Subscription | String, '/hr/behavior/state_switch', self.state_callback, topic_qos(10) |
157 |
| Subscription | String, '/hr/behavior/operator_command', self.operator_command_callback, topic_qos(10) |
158 |
msg/APILookAt.msg
Source: head-ros-nodes/ros/r2_behavior/msg/APILookAt.msg
uint8 mode
uint64 id