Index

Symbols

/active_chatbot (service) /active_listening (topic) /arm_left_controller/command (topic) /arm_left_controller/follow_joint_trajectory (action) /arm_left_controller/safe_command (topic) /arm_right_controller/command (topic) /arm_right_controller/follow_joint_trajectory (action) /arm_right_controller/safe_command (topic) /audio (topic) /audio/channel0 (topic) /conversation_manager (action) /current_zone_of_interest (topic) /diagnostics (topic) /diagnostics_agg (topic) /docking/was_docked (parameter) /execute_task (action) /eyes/expression (topic) /get_speech_duration (service) /get_task_configuration (service) /get_task_types (service) /get_user_input (action) /go_and_dock (action) /hand_left_controller/command (topic) /hand_right_controller/command (topic) /head_controller/command (topic) /head_controller/follow_joint_trajectory (action) /head_front_camera/color/camera_info (topic) /head_front_camera/color/image_raw/* (topic) /head_front_camera/image_throttle/compressed (topic) /hri_face_detect/ready (topic) /hri_face_identification/ready (topic) /human_description_* (parameter) /humans/bodies/*/cropped (topic) /humans/bodies/*/joint_states (topic) /humans/bodies/*/position (topic) /humans/bodies/*/roi (topic) /humans/bodies/*/skeleton2d (topic) /humans/bodies/*/velocity (topic) /humans/bodies/tracked (topic) /humans/candidate_matches (topic) /humans/faces/*/aligned (topic) /humans/faces/*/cropped (topic) /humans/faces/*/landmarks (topic) /humans/faces/*/roi (topic) /humans/faces/height (parameter) /humans/faces/tracked (topic) /humans/faces/width (parameter) /humans/match_threshold (parameter) /humans/persons/*/alias (topic) /humans/persons/*/anonymous (topic) /humans/persons/*/body_id (topic) /humans/persons/*/engagement_status (topic) /humans/persons/*/face_id (topic) /humans/persons/*/location_confidence (topic) /humans/persons/*/voice_id (topic) /humans/persons/known (topic) /humans/persons/tracked (topic) /humans/reference_frame (parameter) /humans/voices/*/audio (topic) /humans/voices/*/is_speaking (topic) /humans/voices/*/speech (topic) /humans/voices/tracked (topic) /intents (topic) /interaction_logger (topic) /interaction_profile_manager/parameter_updates (topic) /interaction_profile_manager/set_parameters (service) /is_speeching (topic) /joint_states (topic) /kb/about (service) /kb/add_fact (topic) /kb/events (service) /kb/events/* (topic) /kb/lookup (service) /kb/manage (service) /kb/query (service) /kb/remove_fact (topic) /kb/revise (service) /kb/sparql (service) /logout (service) /look_at (topic) /look_at_with_style (topic) /manage_chatbot (action) /map (topic) /master_calibration/ari_rgbd_sensors_calibration/ir_torso_exposure (parameter) /master_calibration/user_preferences (parameter) /mobile_base_controller/cmd_vel (topic) /mobile_base_controller/odom (topic) /motion_manager (action) /move_base (action) /move_base/current_goal (topic) /move_base_simple/goal (topic) /offline_map/undo_last_update (service) /offline_map/update_map (service) /pal/language (parameter)

/pal/playback_volume (parameter) /pal/time_zone (parameter) /pal_head_manager/disable (action) /pal_image_navigation_node/image_goal (action) /pal_image_navigation_node/image_look (action) /pal_led_manager/do_effect (action) /pal_map_manager/change_building (service) /pal_map_manager/change_map (service) /pal_map_manager/current_map (service) /pal_map_manager/list_maps (service) /pal_map_manager/rename_map (service) /pal_map_manager/save_curr_building_conf (service) /pal_map_manager/save_map (service) /pal_master_calibration/save_calibration_section (service) /pal_navigation_sm (service) /pal_play_presentation (action) /pal_play_presentation_from_name (action) /pal_presentation_erase (service) /pal_presentation_list (service) /pal_presentation_load (service) /pal_presentation_save (service) /pal_repository/last_upgrade (parameter) /pal_repository/repository (parameter) /pal_repository/version (parameter) /pal_robot_info (parameter) /pal_startup_control/get_log (service) /pal_startup_control/get_log_file (service) /pal_startup_control/start (service) /pal_startup_control/stop (service) /pause_navigation (topic) /pickup (action) /place (action) /play_motion (action) /play_motion/motions (parameter) /play_motion_builder_node/build (action) /play_motion_builder_node/change_joints (service) /play_motion_builder_node/edit_motion (service) /play_motion_builder_node/list_joint_groups (service) /play_motion_builder_node/run (action) /play_motion_builder_node/store_motion (service) /power/battery_level (topic) /power/is_charging (topic) /power/is_docked (topic) /power/is_emergency (topic) /power/is_plugged (topic) /power_status (topic) /ros_web_cfg/robot_name (parameter) /safe_arm_left_controller/follow_joint_trajectory (action) /safe_arm_right_controller/follow_joint_trajectory (action) /scan (topic) /sound_direction (topic) /sound_localization (topic) /speech_audio (topic) /speech_multi_recognizer (action) /speech_multi_recognizer/recognizing (topic) /start_asr (action) /stop_asr (action) /task_administrator/add_task (service) /task_administrator/edit_task (service) /task_administrator/get_schedule_by_date (service) /task_administrator/get_task_list (service) /task_administrator/remove_task (service) /task_executor/do_tasks_autonomously (parameter) /torso_back_camera/fisheye1/camera_info (topic) /torso_back_camera/fisheye1/image_raw/* (topic) /torso_back_camera/fisheye2/camera_info (topic) /torso_back_camera/fisheye2/image_raw/* (topic) /torso_front_camera/aligned_depth_to_color/camera_info (topic) /torso_front_camera/aligned_depth_to_color/image_raw/* (topic) /torso_front_camera/color/camera_info (topic) /torso_front_camera/color/image_raw/* (topic) /torso_front_camera/depth/camera_info (topic) /torso_front_camera/depth/color/points (topic) /torso_front_camera/depth/image_rect_raw/* (topic) /torso_front_camera/infra1/camera_info (topic) /torso_front_camera/infra1/image_rect_raw/* (topic) /torso_front_camera/infra2/image_rect_raw/compressed (topic) /torso_front_camera/rgb_camera/set_parameters (service) /torso_front_camera/stereo_module/set_parameters (service) /touch_web_state (topic) /train_chatbot (action) /tts (action) /tts/supported_languages (parameter) /undocker_server (action) /user_input (topic) /wakeup_monitor/enable (service) /wakeup_monitor/get_sleep_pattern (service) /wakeup_monitor/get_wakeup_pattern (service) /wakeup_monitor/set_sleep_pattern (service) /wakeup_monitor/set_wakeup_pattern (service) /web/go_to (topic) /web_subtitles (topic) ``pykb`` reference |Productname| Motion Builder |Productname|'s start-up process and application management

_

__contains__() (knowledge_core.api.KB method) __getitem__() (knowledge_core.api.KB method)

__iadd__() (knowledge_core.api.KB method) __isub__() (knowledge_core.api.KB method)

A

a skeleton or a person? about() (knowledge_core.api.KB method) Accessing ARI sensors Accessing the robot's capabilities from javascript Action Activity add() (knowledge_core.api.KB method) APIs for expressiveness control Application Application Controller Application Manager Application manifest Application package

ARI app development ARI hardware ARI hardware capabilities ARI networking ARI's "Hello world" ARI's Building Manager ARI's internal computers ARI's Navigation Manager ARI's Touchscreen manager ARI's unboxing ASR Automatic recording of audio Automatic speech recognition (ASR) on |Productname| Autonomous navigation with |Productname|

B

Bag	Building a first touchscreen interaction

C

C++ tutorial: detecting people around the robot Capability Change camera displayed on a Web Commander tab clear() (knowledge_core.api.KB method) Configure an application to launch at start-up

Control ARI's eyes Create a simple engagement detector Create an application with ``pal_app`` Creating a simple multi-modal interaction Creating expressions with LEDs Creating no-code user interactions with ARI

D

Data management data privacy Default chit-chat/smalltalk capabilities of |Productname| Deploying ROS packages on the robot

Developing applications Developing for ARI with ROS Developing with docker and ROS Dialogue management Disclaimers

E

exist() (knowledge_core.api.KB method)

Expressive interactions Expressive interactions with ARI

F

Fact find() (knowledge_core.api.KB method)

First start-up Frequently Asked Questions

G

Gestures and motions Gestures and motions capabilities

Getting started with ARI - Combine voice and gesture Getting started with ARI - Simulator Getting started with the knowledge base

H

Hardware overview Hardware-related API hello() (knowledge_core.api.KB method) How to add/remove/query facts How to ask the robot to move during a script

How to control the mobile base How to design and trigger actions from the chatbot How to detect a face How to get support? How to know battery life / charging

I

Implement a gaze-following behaviour Intent

Intents Internationalisation and language support

K

KB (class in knowledge_core.api) KbError Knowledge and reasoning

Knowledge base knowledge_core.api module KnowledgeCore API

L

LEDs API List of available motions

Log and retrieve data form the robot lookup() (knowledge_core.api.KB method)

M

Managing maps Manifest Meaning of |Productname| LEDs colors and patterns

Microphone array and audio recording Model module knowledge_core.api

N

Navigation

Navigation capabilities Navigation-related API

O

Overview of ARI's configuration files and software structure

Overview of the social perception pipeline

P

Package permanent partition POI

Point of Interest Power management Programming an interactive a story Python tutorial: detecting people oriented toward the robot

R

remove() (knowledge_core.api.KB method) REST interface revise() (knowledge_core.api.KB method) Robot management Robot management capabilities Robot package robot_state_publisher (node) ROS ROS Actions

ROS Bag ROS Nodes ROS package tutorial ROS Parameters ROS Services ROS Topics ROS4HRI rpk rviz

S

Safety and regulatory reference SDK highlights security SLAM and path planning, [1], [2] SLAM and path planning in simulation Social capabilities

Social perception with ROS4HRI Speech and language processing Speech and language processing capabilities Statement stats() (knowledge_core.api.KB method) subscribe() (knowledge_core.api.KB method) system and firmware upgrades

T

Text-to-speech on ARI The ARI robot The WebCommander tool Tooling and debugging of human-robot interactions Topics reference for social perception

Touchscreen Touchscreen capabilities Triples TTS and dialogue management APIs Tutorial: create or update a chatbot for |Productname|

U

update() (knowledge_core.api.KB method) Upload new presentations or modify existing ones

Using the knowledge base with the chatbot Using the WebGUI

V

Vision-based SLAM

W

Wake-up word detector

WebGUI Navigation Manager

Z

ZOI