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) /asr/set_locale (action) /attention_manager/set_policy (service) /audio/channel0 (topic) /audio/channel1 (topic) /audio/channel2 (topic) /audio/channel3 (topic) /audio/channel4 (topic) /audio/channel5 (topic) /audio/raw (topic) /audio/sound_direction (topic) /audio/sound_localization (topic) /audio/speech (topic) /audio/status_led (topic) /audio/voice_detected (topic) /chatbot/set_locale (action) /current_zone_of_interest (topic) /diagnostics (topic) /diagnostics_agg (topic) /docking/was_docked (parameter) /execute_task (action) /gaze_manager/disable_gaze (service) /gaze_manager/disable_neck (service) /gaze_manager/enable_neck (service) /gaze_manager/reset_gaze (service) /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) /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) /left_eye (topic) /logout (service) /look_at (topic) /look_at_with_style (topic) /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_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) /right_eye (topic) /robot_face (parameter) (topic) /robot_face/expression (topic) /robot_face/look_at (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) /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) /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| hardware |Productname| hardware capabilities |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 networking ARI's "Hello world" ARI's Building 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) Configuration files Configure an application to launch at start-up Control ARI's expressions

Controlling the attention and gaze of the robot 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 Creating pre-recorded motion with the Motion Builder

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 - Combine voice and gesture

Getting started with ARI - Simulator Getting started with the knowledge base Getting started with your robot

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 design and trigger actions from the chatbot

How to detect a face How to get support? How to know the battery level and charging status? How to replay a pre-recorded motion from Python? hri_face_detect (node) hri_fullbody (node)

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

Ontology Operating system configuration and updates

Overview of the social perception pipeline OWL

P

Package POI Point of Interest

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

R

rasa 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 Stamped point startup startups Statement stats() (knowledge_core.api.KB method) subscribe() (knowledge_core.api.KB method)

T

Text-to-speech on ARI TF TF frame 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

Upper body motion and ``play_motion`` Using the knowledge base with the chatbot Using the WebGUI

V

Vision-based SLAM

W

Wake-up word detector

WebGUI Navigation Manager

Z

ZOI