ros_chatbot: 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/11_labs_agent.py

Source: head-ros-nodes/ros/ros_chatbot/scripts/11_labs_agent.py

Kind	Arguments in source order	Line
Subscription	AudioStream, self.input_topic, self._audio_input_callback, sensor_or_stream_qos(20)	379
Subscription	String, BROWSER_AUDIO_OVERRIDE_TOPIC, self._browser_override_callback, latched_state_qos()	385
Subscription	String, '/hr/control/voice_streaming', self._status_callback, latched_state_qos()	752
Subscription	String, BROWSER_AUDIO_PLAYBACK_TOPIC, self._browser_playback_callback, sensor_or_stream_qos(10)	758
Publisher	AudioStream, '/hr/control/stream_voice', sensor_or_stream_qos(20)	764
Publisher	AudioStream, BROWSER_AUDIO_OUTPUT_TOPIC, sensor_or_stream_qos(20)	767
Publisher	AudioStream, '/hr/control/webui_audio_out', sensor_or_stream_qos(20)	770
Publisher	String, '/hr/control/webui_audio_out_control', sensor_or_stream_qos(20)	773
Publisher	String, BROWSER_AUDIO_OUTPUT_CONTROL_TOPIC, sensor_or_stream_qos(20)	776
Publisher	String, '/hr/control/audio_interrupt', topic_qos(1)	779
Publisher	String, ELEVENLABS_AGENT_EVENT_TOPIC, topic_qos(10)	780
Publisher	String, ELEVENLABS_AGENT_STATUS_TOPIC, topic_qos(10)	781
Publisher	String, '/hr/control/start_animated_performance', topic_qos(1)	782
Service server	StringTrigger, f'{ELEVENLABS_AGENT_NAMESPACE}/send_user_message', self._send_user_message_service	787
Service server	StringTrigger, f'{ELEVENLABS_AGENT_NAMESPACE}/contextual_update', self._contextual_update_service	792
Service server	StringTrigger, f'{ELEVENLABS_AGENT_NAMESPACE}/restart', self._restart_service	797

scripts/browser_audio_bridge.py

Source: head-ros-nodes/ros/ros_chatbot/scripts/browser_audio_bridge.py

Kind	Arguments in source order	Line
Publisher	AudioStream, mic_topic, sensor_or_stream_qos(20)	178
Publisher	String, browser_playback_topic, sensor_or_stream_qos(10)	179
Publisher	String, input_override_topic, latched_state_qos()	182
Subscription	AudioStream, playback_topic, self._playback_callback, sensor_or_stream_qos(20)	185
Subscription	String, playback_control_topic, self._playback_control_callback, sensor_or_stream_qos(20)	191
Subscription	AudioStream, WEBUI_AUDIO_OUTPUT_TOPIC, lambda msg: self._playback_callback(msg, channel='monitor'), sensor_or_stream_qos(20)	197
Subscription	String, WEBUI_AUDIO_OUTPUT_CONTROL_TOPIC, lambda msg: self._playback_control_callback(msg, channel='monitor'), sensor_or_stream_qos(20)	201
Subscription	String, interrupt_topic, self._interrupt_callback, sensor_or_stream_qos(10)	205

scripts/chat.py

Source: head-ros-nodes/ros/ros_chatbot/scripts/chat.py

Kind	Arguments in source order	Line
Publisher	ChatResponses, '/hr/interaction/chatbot_responses', topic_qos(10)	71
Publisher	TTS, '/hr/control/speech/say', topic_qos(10)	72
Subscription	ChatMessage, '/hr/interaction/chat', self.chat_callback, topic_qos(10)	196
Subscription	ChatMessage, '/hr/perception/hear/sentence', self.speech_callback, topic_qos(10)	197
Subscription	ChatResponse, '/hr/interaction/chatbot_response', self.response_chosen_callback, topic_qos(10)	198
Service server	StringArray, 'available_agents', self.available_agents	204

scripts/llm_tools_server.py

Source: head-ros-nodes/ros/ros_chatbot/scripts/llm_tools_server.py

Kind	Arguments in source order	Line
Publisher	SetExpression, '/hr/animation/set_expression', topic_qos(10)	51
Publisher	SetAnimation, '/hr/animation/set_arm_animation', topic_qos(10)	54

scripts/priming.py

Source: head-ros-nodes/ros/ros_chatbot/scripts/priming.py

Kind	Arguments in source order	Line
Service server	Trigger, '/hr/interaction/prompts/response_prompt', self.trigger_service_callback	33

scripts/scene_manager.py

Source: head-ros-nodes/ros/ros_chatbot/scripts/scene_manager.py

Kind	Arguments in source order	Line
Service server	StringArray, 'available_scenes', self.available_scenes	75

scripts/services.py

Source: head-ros-nodes/ros/ros_chatbot/scripts/services.py

Kind	Arguments in source order	Line
Subscription	CompressedImage, image_topic, self._fresh_image, sensor_or_stream_qos()	46
Service server	GetIntent, 'get_intent', self.get_intent	53
Service server	StringTrigger, 'describe_view', self.describe_view	54

scripts/spark_client.py

Source: head-ros-nodes/ros/ros_chatbot/scripts/spark_client.py

Kind	Arguments in source order	Line
Service server	AgentChat, f'{base_node}/chat', self.handle_agent_chat	104
Service server	AgentFeedback, f'{base_node}/feedback', self.handle_agent_feedback	105
Publisher	ChatResponse, f'{base_node}/responses', topic_qos(10)	106
Publisher	ChatResponses, '/hr/interaction/chatbot_responses', topic_qos(10)	107
Publisher	TTS, '/hr/control/speech/say', topic_qos(10)	108
Subscription	TTS, '/hr/control/speech/say', self.on_tts_message, topic_qos(10)	109

src/ros_chatbot/llm_tools/robot_tools.py

Source: head-ros-nodes/ros/ros_chatbot/src/ros_chatbot/llm_tools/robot_tools.py

Kind	Arguments in source order	Line
Subscription	self.compressed_image_msg, self.camera_topic, self._image_callback, self.qos_profile	58

src/ros_chatbot/robot_tool_registry.py

Source: head-ros-nodes/ros/ros_chatbot/src/ros_chatbot/robot_tool_registry.py

Kind	Arguments in source order	Line
Publisher	SetExpression, '/hr/animation/set_expression', topic_qos(10)	58
Publisher	SetAnimation, '/hr/animation/set_arm_animation', topic_qos(10)	59