ROS Messages

Operate HSR

Operate a robot by subscribing and publishing several ROS topics.
For details please see the following wiki.
https://github.com/PartnerRobotChallengeVirtual/common-unity/wiki/RosTopics

Messages from/to the moderator

Sending and receiving of event messages between the moderator and the robot are performed using original ROS messages (human_navigation/HumanNaviMsg).

[human_navigation/HumanNaviMsg]
string message
string detail

No	Topic Name	Direction	Message Type	Description
1	/human_navigation/message/to_robot	SIGVerse ⇒	human_navigation/HumanNaviMsg	Event message from Robot to Avatar
2	/human_navigation/message/to_moderator	ROS ⇒	human_navigation/HumanNaviMsg	Event message from Avatar to Robot

Note: SIGVerse ⇒: SIGVerse to User's ROS Node, ROS ⇒: User's ROS Node to SIGVerse

For details of event messages please see the following table.

No	Event	Direction	message	detail
1	Send Are_you_ready?	Moderator ⇒	Are_you_ready?	(blank)
2	Send I_am_ready	Robot ⇒	I_am_ready	(blank)
3	Request of guidance message	Moderator ⇒	Guidance_request	(blank)
4	End of session	Robot ⇒	Task_finished	(blank)
5	Go to next session	Moderator ⇒	Go_to_next_session	(blank)
6	Send Give_up	Robot ⇒	Give_up	(blank)
7	Give up	Moderator ⇒	Task_failed	Give_up
8	Time is up	Moderator ⇒	Task_failed	Time_is_up
9	Succeeded the task	Moderator ⇒	Task_succeeded	(blank)
10	All tasks finished	Moderator ⇒	Mission_complete	(blank)
11	Request of avatar status	Robot ⇒	Get_avatar_status	(blank)
12	Request of object status	Robot ⇒	Get_object_status	(blank)
13	Request of speech state	Robot ⇒	Get_speech_state	(blank)
14	TTS is running	Moderator ⇒	Speech_state	Is_speaking
15	TTS is not running	Moderator ⇒	Speech_state	Is_not_speaking
16	TTS started an utterance	Moderator ⇒	Speech_result	Started
17	TTS finished an utterance	Moderator ⇒	Speech_result	Finished

Note: Moderator ⇒: Moderator to Robot, Robot ⇒: Robot to Moderator

Task information

The task information is sent from the moderator. The environment, objects to manipulate, and the destination to place the target object are included in the task information.

No	Topic Name	Direction	Message Type	Description
1	/human_navigation/message/task_info	SIGVerse ⇒	human_navigation/HumanNaviTaskInfo	Information needed to perform the task

Note: SIGVerse ⇒: SIGVerse to User's ROS Node, ROS ⇒: User's ROS Node to SIGVerse

[human_navigation/HumanNaviTaskInfo]
string environment_id
HumanNaviObjectInfo target_object
HumanNaviDestination destination
HumanNaviObjectInfo[] non_target_objects
HumanNaviObjectInfo[] furniture

No	Name	Description
1	environment_id	Room layout ID
2	target_object	Label, position, and orientation of the target object
3	destination	Anchor position, orientation, and size of designated area to place the target object
4	non_target_objects	Label, position, and orientation of objects excepting the target object
5	furniture	Label, position, and orientation of furniture objects

[human_navigation/HumanNaviObjectInfo]
string name
geometry_msgs/Point position
geometry_msgs/Quaternion orientation

No	Name	Description
1	name	Label name of the object
2	position	Position of the object in the ROS coordinate system
3	orientation	orientation of the object in the ROS coordinate system

[human_navigation/HumanNaviDestination]
geometry_msgs/Point position
geometry_msgs/Quaternion orientation
geometry_msgs/Point size

No	Name	Description
1	position	Anchor position of the destination in the ROS coordinate system
2	orientation	Orientation of the destination in the ROS coordinate system
3	size	Area size of the destination

Guidance message

The natural language instructions are provided audibly and visually to the test subject by sending the guidance message. The number of characters used in the instruction should not exceed 400.
Although the size of characters in message board effect in Unity is automatically adjusted according to the number of characters, please be careful the size of a text area in the message board effect if you send long sentences with a lot of large characters (i.e., capital letters).
The robot can give instructions at any time.

No	Topic Name	Direction	Message Type	Description
1	/human_navigation/message/guidance_message	Robot ⇒	human_navigation/HumanNaviGuidanceMsg	Instruction statement and display target

Note: SIGVerse ⇒: SIGVerse to User's ROS Node, ROS ⇒: User's ROS Node to SIGVerse

[human_navigation/HumanNaviGuidanceMsg]
string message
string display_type
string source_language
string target_language

No	Name	Description
1	message	Instruction statement by natural language
2	display_type	Target message boards to show the instruction statement for the test subject "All" : instruction is shown above the robot and in the HMD of the test subject "RobotOnly" : instruction is shown only above the robot "AvatarOnly" : instruction is shown only in the HMD "None" : instructions are provided to the test subject only verbally
3	source_language	Blank. If you want to translate, set ISO-639-1 language code (e.g. "en").
4	target_language	Blank. If you want to translate, set ISO-639-1 language code (e.g. "ja").

Avatar status

The robot can receive the current status of the avatar by sending "Get_avatar_status" message to the moderator.

[human_navigation/HumanNaviAvatarStatus]
geometry_msgs/Pose head
geometry_msgs/Pose body
geometry_msgs/Pose left_hand
geometry_msgs/Pose right_hand
string object_in_left_hand
string object_in_right_hand
bool is_target_object_in_left_hand
bool is_target_object_in_right_hand

No	Name	Description
1	head	Position and orientation of Avatar's head
2	body	Position and orientation of Avatar's chest (EthanSpine2)
2	left_hand	Position and orientation of Avatar's left hand
3	right_hand	Position and orientation of Avatar's right hand
3	object_in_left_hand	Label of the object in the left hand
3	object_in_right_hand	Label of the obkect in the right hand
3	is_target_object_in_left_hand	Whether the object in left hand is the target object
3	is_target_object_in_right_hand	Whether the object in right hand is the target object

Object status

The robot can receive the current status of the objects by sending "Get_object_status" message to the moderator.

HumanNaviObjectInfo target_object
HumanNaviObjectInfo[] non_target_objects

No	Name	Description
1	target_object	Label, position, and orientation of the target object
2	non_target_objects	Label, position, and orientation of objects excepting the target object