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 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 an application with ``pal_app`` 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

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 - 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 control the mobile base How to detect a face How to get support? How to know battery life / charging

I

Implement a gaze-following behaviour

Intent Intents

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

P

Package POI

Point of Interest Power management 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)

T

The ARI robot The WebCommander tool 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 WebGUI

V

Vision-based SLAM

W

Wake-up word detector

Z

ZOI