saphari_msgs

Summary

saphari_msgs
Version:

0.0.5
Description:

Message definitions for manipulation and perception related tasks within the SAPHARI project
Maintainers:
  • jworch <jworch AT todo DOT todo>
Licenses:
  • BSD
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Message types

saphari_msgs/Human
Field: 
std_msgs/Header header
int32 userID 
BodyPart[] bodyParts
saphari_msgs/BodyPart
Constant:
  • LEFTFOOT (uint8):0 –
  • LEFTLEG (uint8):1 –
  • LEFTKNEE (uint8):2 –
  • LEFTTHIGH (uint8):3 –
  • RIGHTFOOT (uint8):4 –
  • RIGHTLEG (uint8):5 –
  • RIGHTKNEE (uint8):6 –
  • RIGHTTHIGH (uint8):7 –
  • RIGHTHIP (uint8):8 –
  • LEFTHIP (uint8):9 –
  • NECK (uint8):10 –
  • RIGHTARM (uint8):11 –
  • RIGHTELBOW (uint8):12 –
  • RIGHTFOREARM (uint8):13 –
  • RIGHTHAND (uint8):14 –
  • LEFTARM (uint8):15 –
  • LEFTELBOW (uint8):16 –
  • LEFTFOREARM (uint8):17 –
  • LEFTHAND (uint8):18 –
  • LEFTBOTTOMFACE (uint8):19 –
  • RIGHTBOTTOMFACE (uint8):20 –
  • LEFTTOPFACE (uint8):21 –
  • RIGHTTOPFACE (uint8):22 –
  • RIGHTCHEST (uint8):23 –
  • LEFTCHEST (uint8):24 –
  • HEAD (uint8):96 –
  • TORSO (uint8):97 –
  • RIGHTSHOULDER (uint8):98 –
  • LEFTSHOULDER (uint8):99 –
Field: 
uint8 LEFTFOOT=0
uint8 LEFTLEG=1
uint8 LEFTKNEE=2
uint8 LEFTTHIGH=3
uint8 RIGHTFOOT=4
uint8 RIGHTLEG=5
uint8 RIGHTKNEE=6
uint8 RIGHTTHIGH=7
uint8 RIGHTHIP=8
uint8 LEFTHIP=9
uint8 NECK=10
uint8 RIGHTARM=11
uint8 RIGHTELBOW=12
uint8 RIGHTFOREARM=13
uint8 RIGHTHAND=14
uint8 LEFTARM=15
uint8 LEFTELBOW=16
uint8 LEFTFOREARM=17
uint8 LEFTHAND=18
uint8 LEFTBOTTOMFACE=19
uint8 RIGHTBOTTOMFACE=20
uint8 LEFTTOPFACE=21
uint8 RIGHTTOPFACE=22
uint8 RIGHTCHEST=23
uint8 LEFTCHEST=24

#following ids are the backup for the demo using the ni tracker
uint8 HEAD=96
uint8 TORSO=97
uint8 RIGHTSHOULDER=98
uint8 LEFTSHOULDER=99

int32 id
int32 label
int32[] childIDs
geometry_msgs/Point32 centroid
geometry_msgs/TransformStamped tf
float32 radius
saphari_msgs/GestureData
Field:

Inizio coordinate della kinect, commentare le coordinate non necessarie.

#Inizio coordinate della kinect, commentare le coordinate non necessarie.

geometry_msgs/Point HEAD_COORD
geometry_msgs/Point NECK_COORD
geometry_msgs/Point SHOULDER_RIGHT_COORD
geometry_msgs/Point SHOULDER_LEFT_COORD
geometry_msgs/Point ELBOW_RIGHT_COORD
geometry_msgs/Point ELBOW_LEFT_COORD
geometry_msgs/Point HAND_RIGHT_COORD
geometry_msgs/Point HAND_LEFT_COORD
geometry_msgs/Point HIP_RIGHT_COORD
geometry_msgs/Point HIP_LEFT_COORD
#geometry_msgs/Point KNEE_RIGHT_COORD
#geometry_msgs/Point KNEE_LEFT_COORD
#geometry_msgs/Point FOOT_RIGHT_COORD
#geometry_msgs/Point FOOT_LEFT_COORD

#Fine coordinate della kinect.

sensor_msgs/Image img

#se il viso dell'utente è di fronte al sensore
#face_front = true
#bool face_front
saphari_msgs/PerceivedEquipment
Field: 
Equipment[] perceived
saphari_msgs/Equipment
Constant:
  • BOWL (int8):0 –
  • CLAMP_BIG (int8):1 –
  • CLAMP_SMALL (int8):2 –
  • SCALPEL (int8):3 –
  • SCISSORS (int8):4 –
Field: 
int8 BOWL=0
int8 CLAMP_BIG=1
int8 CLAMP_SMALL=2
int8 SCALPEL=3
int8 SCISSORS=4

int8 ID
geometry_msgs/PoseStamped pose
saphari_msgs/Humans
Field: 
int32[] observed_user_ids
Human[] humans

Service types

saphari_msgs/PerceiveEquipment
Field (Request):
 
  • request (string) –
Field (Response):
  
string request
------
PerceivedEquipment result