nao_interaction_msgs¶

Message types¶

• nao_interaction_msgs/AudioSourceLocalization
• nao_interaction_msgs/LandmarkDetected
• nao_interaction_msgs/MovementDetected
• nao_interaction_msgs/FaceDetected

nao_interaction_msgs/AudioSourceLocalization¶

Field:	header (std_msgs/Header) – azimuth (std_msgs/Float32) – elevation (std_msgs/Float32) – confidence (std_msgs/Float32) – energy (std_msgs/Float32) – head_pose (geometry_msgs/Pose) –

Message emitted by Nao ALAudioSourceLocalizationProxy wrapper. Contains information about sound localization

# Message emitted by Nao ALAudioSourceLocalizationProxy wrapper.
# Contains information about sound localization

Header header

std_msgs/Float32 azimuth
std_msgs/Float32 elevation
std_msgs/Float32 confidence
std_msgs/Float32 energy

geometry_msgs/Pose head_pose

nao_interaction_msgs/LandmarkDetected¶

Field:	header (std_msgs/Header) – mark_ids[] (std_msgs/Int32) – shape_alpha[] (std_msgs/Float32) – shape_beta[] (std_msgs/Float32) – shape_sizex[] (std_msgs/Float32) – shape_sizey[] (std_msgs/Float32) – camera_local_pose (geometry_msgs/Pose) – camera_world_pose (geometry_msgs/Pose) – camera_name (std_msgs/String) –

Message emitted by Nao landmark detection module. Contains information about the landmarks detected

# Message emitted by Nao landmark detection module.
# Contains information about the landmarks detected

Header header

# Vectors holding the landmark information
std_msgs/Int32[] mark_ids
std_msgs/Float32[] shape_alpha
std_msgs/Float32[] shape_beta
std_msgs/Float32[] shape_sizex
std_msgs/Float32[] shape_sizey

geometry_msgs/Pose camera_local_pose

geometry_msgs/Pose camera_world_pose

std_msgs/String camera_name

nao_interaction_msgs/MovementDetected¶

Field:	header (std_msgs/Header) – gravity_center (geometry_msgs/Point) – mean_velocity (geometry_msgs/Point) – points_poses[] (geometry_msgs/Point) – points_speeds[] (geometry_msgs/Point) –

Message emitted by Nao movement detection module. Contains information about the motion detection module

# Message emitted by Nao movement detection module.
# Contains information about the motion detection module

Header header

# [x,y] contains the angular coordinates (in radians) of the center of gravity of the cluster
geometry_msgs/Point gravity_center

# [vx,vy] corresponds to the mean velocity of the cluster, computed from the velocity of all the moving points. It is an angular velocity, expressed in radians/s
geometry_msgs/Point mean_velocity

# Coordinates of the moving points
geometry_msgs/Point[] points_poses

# Velocities of the moving points
geometry_msgs/Point[] points_speeds

nao_interaction_msgs/FaceDetected¶

Field:

header (std_msgs/Header) – face_id (std_msgs/Int32) – score_reco (std_msgs/Float32) – face_label (std_msgs/String) – shape_alpha (std_msgs/Float32) – shape_beta (std_msgs/Float32) – shape_sizeX (std_msgs/Float32) – shape_sizeY (std_msgs/Float32) – right_eye_eyeCenter_x (std_msgs/Float32) – right_eye_eyeCenter_y (std_msgs/Float32) – right_eye_noseSideLimit_x (std_msgs/Float32) – right_eye_noseSideLimit_y (std_msgs/Float32) – right_eye_earSideLimit_x (std_msgs/Float32) – right_eye_earSideLimit_y (std_msgs/Float32) – right_eye_topLimit_x (std_msgs/Float32) – right_eye_topLimit_y (std_msgs/Float32) – right_eye_bottomLimit_x (std_msgs/Float32) – right_eye_bottomLimit_y (std_msgs/Float32) – right_eye_midTopEarLimit_x (std_msgs/Float32) – right_eye_midTopEarLimit_y (std_msgs/Float32) – right_eye_midTopNoseLimit_x (std_msgs/Float32) – right_eye_midTopNoseLimit_y (std_msgs/Float32) – left_eye_eyeCenter_x (std_msgs/Float32) – left_eye_eyeCenter_y (std_msgs/Float32) – left_eye_noseSideLimit_x (std_msgs/Float32) – left_eye_noseSideLimit_y (std_msgs/Float32) – left_eye_earSideLimit_x (std_msgs/Float32) – left_eye_earSideLimit_y (std_msgs/Float32) – left_eye_topLimit_x (std_msgs/Float32) – left_eye_topLimit_y (std_msgs/Float32) – left_eye_bottomLimit_x (std_msgs/Float32) – left_eye_bottomLimit_y (std_msgs/Float32) – left_eye_midTopEarLimit_x (std_msgs/Float32) – left_eye_midTopEarLimit_y (std_msgs/Float32) – left_eye_midTopNoseLimit_x (std_msgs/Float32) – left_eye_midTopNoseLimit_y (std_msgs/Float32) – right_eyebrow_noseSideLimit_x (std_msgs/Float32) – right_eyebrow_noseSideLimit_y (std_msgs/Float32) – right_eyebrow_center_x (std_msgs/Float32) – right_eyebrow_center_y (std_msgs/Float32) – right_eyebrow_earSideLimit_x (std_msgs/Float32) – right_eyebrow_earSideLimit_y (std_msgs/Float32) – left_eyebrow_noseSideLimit_x (std_msgs/Float32) – left_eyebrow_noseSideLimit_y (std_msgs/Float32) – left_eyebrow_center_x (std_msgs/Float32) – left_eyebrow_center_y (std_msgs/Float32) – left_eyebrow_earSideLimit_x (std_msgs/Float32) – left_eyebrow_earSideLimit_y (std_msgs/Float32) – nose_bottomCenterLimit_x (std_msgs/Float32) – nose_bottomCenterLimit_y (std_msgs/Float32) – nose_bottomLeftLimit_x (std_msgs/Float32) – nose_bottomLeftLimit_y (std_msgs/Float32) – nose_bottomRightLimit_x (std_msgs/Float32) – nose_bottomRightLimit_y (std_msgs/Float32) – mouth_leftLimit_x (std_msgs/Float32) – mouth_leftLimit_y (std_msgs/Float32) – mouth_rightLimit_x (std_msgs/Float32) – mouth_rightLimit_y (std_msgs/Float32) – mouth_topLimit_x (std_msgs/Float32) – mouth_topLimit_y (std_msgs/Float32) – mouth_bottomLimit_x (std_msgs/Float32) – mouth_bottomLimit_y (std_msgs/Float32) – mouth_midTopLeftLimit_x (std_msgs/Float32) – mouth_midTopLeftLimit_y (std_msgs/Float32) – mouth_midTopRightLimit_x (std_msgs/Float32) – mouth_midTopRightLimit_y (std_msgs/Float32) – mouth_midBottomRightLimit_x (std_msgs/Float32) – mouth_midBottomRightLimit_y (std_msgs/Float32) – mouth_midBottomLeftLimit_x (std_msgs/Float32) – mouth_midBottomLeftLimit_y (std_msgs/Float32) – camera_0_pose (geometry_msgs/Pose) – camera_1_pose (geometry_msgs/Pose) – camera_id (std_msgs/Int32) –

Message emitted by Nao face detection module. It contains the list of faces detected and the cameras poses

# Message emitted by Nao face detection module.
# It contains the list of faces detected and the cameras poses

Header header

# Face-specific related information

std_msgs/Int32 face_id
std_msgs/Float32 score_reco
std_msgs/String face_label

# Shape related information

std_msgs/Float32 shape_alpha
std_msgs/Float32 shape_beta
std_msgs/Float32 shape_sizeX
std_msgs/Float32 shape_sizeY

# Eyes related information

std_msgs/Float32 right_eye_eyeCenter_x
std_msgs/Float32 right_eye_eyeCenter_y
std_msgs/Float32 right_eye_noseSideLimit_x
std_msgs/Float32 right_eye_noseSideLimit_y
std_msgs/Float32 right_eye_earSideLimit_x
std_msgs/Float32 right_eye_earSideLimit_y
std_msgs/Float32 right_eye_topLimit_x
std_msgs/Float32 right_eye_topLimit_y
std_msgs/Float32 right_eye_bottomLimit_x
std_msgs/Float32 right_eye_bottomLimit_y
std_msgs/Float32 right_eye_midTopEarLimit_x
std_msgs/Float32 right_eye_midTopEarLimit_y
std_msgs/Float32 right_eye_midTopNoseLimit_x
std_msgs/Float32 right_eye_midTopNoseLimit_y

std_msgs/Float32 left_eye_eyeCenter_x
std_msgs/Float32 left_eye_eyeCenter_y
std_msgs/Float32 left_eye_noseSideLimit_x
std_msgs/Float32 left_eye_noseSideLimit_y
std_msgs/Float32 left_eye_earSideLimit_x
std_msgs/Float32 left_eye_earSideLimit_y
std_msgs/Float32 left_eye_topLimit_x
std_msgs/Float32 left_eye_topLimit_y
std_msgs/Float32 left_eye_bottomLimit_x
std_msgs/Float32 left_eye_bottomLimit_y
std_msgs/Float32 left_eye_midTopEarLimit_x
std_msgs/Float32 left_eye_midTopEarLimit_y
std_msgs/Float32 left_eye_midTopNoseLimit_x
std_msgs/Float32 left_eye_midTopNoseLimit_y

# Eyebrows related information

std_msgs/Float32 right_eyebrow_noseSideLimit_x
std_msgs/Float32 right_eyebrow_noseSideLimit_y
std_msgs/Float32 right_eyebrow_center_x
std_msgs/Float32 right_eyebrow_center_y
std_msgs/Float32 right_eyebrow_earSideLimit_x
std_msgs/Float32 right_eyebrow_earSideLimit_y

std_msgs/Float32 left_eyebrow_noseSideLimit_x
std_msgs/Float32 left_eyebrow_noseSideLimit_y
std_msgs/Float32 left_eyebrow_center_x
std_msgs/Float32 left_eyebrow_center_y
std_msgs/Float32 left_eyebrow_earSideLimit_x
std_msgs/Float32 left_eyebrow_earSideLimit_y

# Nose related information

std_msgs/Float32 nose_bottomCenterLimit_x
std_msgs/Float32 nose_bottomCenterLimit_y
std_msgs/Float32 nose_bottomLeftLimit_x
std_msgs/Float32 nose_bottomLeftLimit_y
std_msgs/Float32 nose_bottomRightLimit_x
std_msgs/Float32 nose_bottomRightLimit_y

# Mouth related information

std_msgs/Float32 mouth_leftLimit_x
std_msgs/Float32 mouth_leftLimit_y
std_msgs/Float32 mouth_rightLimit_x
std_msgs/Float32 mouth_rightLimit_y
std_msgs/Float32 mouth_topLimit_x
std_msgs/Float32 mouth_topLimit_y
std_msgs/Float32 mouth_bottomLimit_x
std_msgs/Float32 mouth_bottomLimit_y
std_msgs/Float32 mouth_midTopLeftLimit_x
std_msgs/Float32 mouth_midTopLeftLimit_y
std_msgs/Float32 mouth_midTopRightLimit_x
std_msgs/Float32 mouth_midTopRightLimit_y
std_msgs/Float32 mouth_midBottomRightLimit_x
std_msgs/Float32 mouth_midBottomRightLimit_y
std_msgs/Float32 mouth_midBottomLeftLimit_x
std_msgs/Float32 mouth_midBottomLeftLimit_y

# Camera related information

geometry_msgs/Pose camera_0_pose
geometry_msgs/Pose camera_1_pose
std_msgs/Int32 camera_id

Service types¶

• nao_interaction_msgs/VisionMotionSensitivity
• nao_interaction_msgs/AudioPlayback
• nao_interaction_msgs/AudioMasterVolume
• nao_interaction_msgs/LearnFace
• nao_interaction_msgs/AudioRecorder

nao_interaction_msgs/VisionMotionSensitivity¶

Field (Request):
	sensitivity (std_msgs/Float32) –

Service for setting the sensitivity of the movement detection Input must be between 0.0 and 1.0

# Service for setting the sensitivity of the movement detection
# Input must be between 0.0 and 1.0

std_msgs/Float32 sensitivity
---
# Empty response 

nao_interaction_msgs/AudioPlayback¶

Field (Request):
	file_path (std_msgs/String) –

Service for audio playback via NAO. Takes as request the path of the audio file to playback

# Service for audio playback via NAO.
# Takes as request the path of the audio file to playback

std_msgs/String file_path
---
# Empty response when the playback is done

nao_interaction_msgs/AudioMasterVolume¶

Field (Request):
	master_volume (std_msgs/Int32) –

Service for setting the master volume of NAO Input must be between 0 and 100

# Service for setting the master volume of NAO
# Input must be between 0 and 100

std_msgs/Int32 master_volume
---
# Empty response 

nao_interaction_msgs/LearnFace¶

Field (Request):
	name (std_msgs/String) –
Field (Response):
	result (std_msgs/Bool) –

std_msgs/String name
---
std_msgs/Bool result

nao_interaction_msgs/AudioRecorder¶

Field (Request):
	file_path (std_msgs/String) – secs (std_msgs/Int32) – audio_type (std_msgs/Char) – left_channel (std_msgs/Bool) – right_channel (std_msgs/Bool) – front_channel (std_msgs/Bool) – rear_channel (std_msgs/Bool) – samplerate (std_msgs/Int32) –

Service for audio recording via NAO. Takes as request the path to write the recorded audio file and the seconds of the recording.

# Service for audio recording via NAO.
# Takes as request the path to write the recorded audio file and the seconds of 
# the recording.

std_msgs/String file_path
std_msgs/Int32 secs

# 0 for "wav", 1 for "ogg"
std_msgs/Char audio_type

std_msgs/Bool left_channel
std_msgs/Bool right_channel
std_msgs/Bool front_channel
std_msgs/Bool rear_channel

# Typical value is 16000 Hz
std_msgs/Int32 samplerate
---
# Empty response when the recording is done