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This is the documentation of ROS 1 PAL OS 23.12. For ROS 2, please visit the latest PAL OS documentation.
PAL SDK 23.12 documentation
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PAL SDK 23.12 documentation
  • Getting started
    • Getting started with your robot
      • TIAGo’s unboxing
      • TIAGo Safety and regulatory reference
      • ARI unboxing
      • ARI first start-up
      • ARI safety and regulatory reference
      • ARI power management and docking
    • Getting started with simulation
    • Disclaimers
    • How to get support?
    • Robot storage recommandations
    • Robot identification
  • Developing applications
    • Creating no-code demos and presentations
    • Introduction to robot app programming
    • Developing with ROS
      • List of ROS Topics
        • /active_listening
        • /arm_left_controller/command
        • /arm_left_controller/safe_command
        • /arm_right_controller/command
        • /arm_right_controller/safe_command
        • /audio/channel0
        • /audio/channel1
        • /audio/channel2
        • /audio/channel3
        • /audio/channel4
        • /audio/channel5
        • /audio/raw
        • /audio/sound_direction
        • /audio/sound_localization
        • /audio/speech
        • /audio/status_led
        • /audio/voice_detected
        • /base_imu
        • /chatbot/trigger
        • /current_zone_of_interest
        • /diagnostics
        • /diagnostics_agg
        • /hand_left_controller/command
        • /hand_right_controller/command
        • /head_controller/command
        • /head_front_camera/color/camera_info
        • /head_front_camera/color/image_raw/*
        • /head_front_camera/image_throttle/compressed
        • /hri_face_detect/ready
        • /hri_face_identification/ready
        • /humans/bodies/*/cropped
        • /humans/bodies/*/joint_states
        • /humans/bodies/*/position
        • /humans/bodies/*/roi
        • /humans/bodies/*/skeleton2d
        • /humans/bodies/tracked
        • /humans/bodies/*/velocity
        • /humans/candidate_matches
        • /humans/faces/*/aligned
        • /humans/faces/*/cropped
        • /humans/faces/*/landmarks
        • /humans/faces/*/roi
        • /humans/faces/tracked
        • /humans/persons/*/alias
        • /humans/persons/*/anonymous
        • /humans/persons/*/body_id
        • /humans/persons/*/engagement_status
        • /humans/persons/*/face_id
        • /humans/persons/known
        • /humans/persons/*/location_confidence
        • /humans/persons/tracked
        • /humans/persons/*/voice_id
        • /humans/voices/*/audio
        • /humans/voices/*/is_speaking
        • /humans/voices/*/speech
        • /humans/voices/tracked
        • /intents
        • /interaction_logger
        • /interaction_profile_manager/parameter_updates
        • /joint_states
        • /kb/add_fact
        • /kb/events/*
        • /kb/remove_fact
        • /left_eye
        • /look_at
        • /look_at_with_style
        • /map
        • /mobile_base_controller/cmd_vel
        • /mobile_base_controller/odom
        • /move_base/current_goal
        • /move_base_simple/goal
        • /pause_navigation
        • /power/battery_level
        • /power/is_charging
        • /power/is_docked
        • /power/is_emergency
        • /power/is_plugged
        • /power_status
        • /right_eye
        • /robot_face
        • /robot_face/background_image
        • /robot_face/expression
        • /robot_face/look_at
        • /scan
        • /sonar_base
        • /torso_back_camera/fisheye1/camera_info
        • /torso_back_camera/fisheye1/image_raw/*
        • /torso_back_camera/fisheye2/camera_info
        • /torso_back_camera/fisheye2/image_raw/*
        • /torso_front_camera/aligned_depth_to_color/camera_info
        • /torso_front_camera/aligned_depth_to_color/image_raw/*
        • /torso_front_camera/color/camera_info
        • /torso_front_camera/color/image_raw/*
        • /torso_front_camera/depth/camera_info
        • /torso_front_camera/depth/color/points
        • /torso_front_camera/depth/image_rect_raw/*
        • /torso_front_camera/infra1/camera_info
        • /torso_front_camera/infra1/image_rect_raw/*
        • /torso_front_camera/infra2/image_rect_raw/compressed
        • /touch_web_state
        • /user_input
        • /web/go_to
        • /web_subtitles
        • /wrist_ft
        • /xtion/depth_registered/camera_info
        • /xtion/depth_registered/image_raw
        • /xtion/depth_registered/points
        • /xtion/rgb/camera_info
        • /xtion/rgb/image_raw
        • /xtion/rgb/image_rect_color
      • List of ROS Actions
        • /advanced_grasping/grasp
        • /advanced_grasping/perception
        • /advanced_grasping/place
        • /arm_left_controller/follow_joint_trajectory
        • /arm_right_controller/follow_joint_trajectory
        • /asr/set_locale
        • /chatbot/set_locale
        • /execute_task
        • /get_user_input
        • /go_and_dock
        • /head_controller/follow_joint_trajectory
        • /motion_manager
        • /move_base
        • /pal_image_navigation_node/image_goal
        • /pal_image_navigation_node/image_look
        • /pal_led_manager/do_effect
        • /pal_play_presentation
        • /pal_play_presentation_from_name
        • /pickup
        • /place
        • /play_motion
        • /play_motion_builder_node/build
        • /play_motion_builder_node/run
        • /robot_face/overlay
        • /safe_arm_left_controller/follow_joint_trajectory
        • /safe_arm_right_controller/follow_joint_trajectory
        • /tts
        • /undocker_server
      • List of ROS Services
        • /active_chatbot
        • /advanced_grasping/clear_planning_scene
        • /attention_manager/set_policy
        • /gaze_manager/disable_gaze
        • /gaze_manager/disable_neck
        • /gaze_manager/enable_neck
        • /gaze_manager/reset_gaze
        • /get_speech_duration
        • /get_task_configuration
        • /get_task_types
        • /interaction_profile_manager/set_parameters
        • /kb/about
        • /kb/events
        • /kb/lookup
        • /kb/manage
        • /kb/query
        • /kb/revise
        • /kb/sparql
        • /logout
        • /offline_map/undo_last_update
        • /offline_map/update_map
        • /pal_map_manager/change_building
        • /pal_map_manager/change_map
        • /pal_map_manager/current_map
        • /pal_map_manager/list_maps
        • /pal_map_manager/rename_map
        • /pal_map_manager/save_curr_building_conf
        • /pal_map_manager/save_map
        • /pal_master_calibration/save_calibration_section
        • /pal_navigation_sm
        • /pal_presentation_erase
        • /pal_presentation_list
        • /pal_presentation_load
        • /pal_presentation_save
        • /pal_startup_control/get_log
        • /pal_startup_control/get_log_file
        • /pal_startup_control/start
        • /pal_startup_control/stop
        • /play_motion_builder_node/change_joints
        • /play_motion_builder_node/edit_motion
        • /play_motion_builder_node/list_joint_groups
        • /play_motion_builder_node/store_motion
        • /robot_face/reset_background
        • /task_administrator/add_task
        • /task_administrator/edit_task
        • /task_administrator/get_schedule_by_date
        • /task_administrator/get_task_list
        • /task_administrator/remove_task
        • /torso_front_camera/rgb_camera/set_parameters
        • /torso_front_camera/stereo_module/set_parameters
        • /wakeup_monitor/enable
        • /wakeup_monitor/get_sleep_pattern
        • /wakeup_monitor/get_wakeup_pattern
        • /wakeup_monitor/set_sleep_pattern
        • /wakeup_monitor/set_wakeup_pattern
        • /xtion/get_serial
        • /xtion/rgb/set_camera_info
      • List of ROS Nodes
        • hri_face_body_matcher
        • hri_face_detect
        • hri_fullbody
        • knowledge_core
        • robot_state_publisher
      • List of ROS Parameters
        • /docking/was_docked
        • /human_description_*
        • /humans/faces/height
        • /humans/faces/width
        • /humans/match_threshold
        • /humans/reference_frame
        • /master_calibration/ari_rgbd_sensors_calibration/ir_torso_exposure
        • /master_calibration/user_preferences
        • /pal/language
        • /pal/playback_volume
        • /pal/time_zone
        • /pal_repository/last_upgrade
        • /pal_repository/repository
        • /pal_repository/version
        • /pal_robot_info
        • /play_motion/motions
        • /robot_face
        • /ros_web_cfg/robot_name
        • /task_executor/do_tasks_autonomously
        • /tts/supported_languages
    • Intents
    • Accessing the robot’s capabilities from javascript
    • Visual programming
    • Tutorial: ARI’s “Hello world”
    • Tutorial: Creating a simple multi-modal interaction
    • Tutorial: Build and run a new ROS package
    • Tutorial: Deploying ROS packages on the robot
    • Create an application with pal_app
    • Developing with the SDK Docker image and ROS
    • Deploying a Docker image on the robot
    • REST interface
  • Robot management
    • Operating system configuration and updates
    • Configuration files
    • Network configuration
    • The robot’s start-up process and application management
    • Configure an application to launch at start-up
    • Using the Web User Interface
    • The WebCommander tool
    • Tutorial: How to customise the WebCommander displays?
    • Data management, security, data privacy
    • How-to: Log and retrieve data from the robot
    • System recovery
    • How to flash an ISO on your robot
    • How to know the battery level and charging status?
    • Internationalisation and language support
    • Robot management capabilities
  • Robot hardware
    • TIAGo hardware overview
      • TIAGo arm
      • See also
      • Electrical parts and components
      • Hey5 hand
      • PAL gripper
      • Robotiq 2F-85/140 gripper
      • Robotiq EPick Vacuum gripper
      • Schunk gripper WSG32
      • End-effectors
      • See also
      • Force/Torque sensor
      • TIAGo’s head
      • Mobile base
      • Omnidirectional mobile base
      • TIAGo torso
      • TIAGo torso (for omnidirectional base)
    • TIAGo hardware APIs
    • ARI hardware overview
    • ARI hardware APIs
      • /torso_front_camera/aligned_depth_to_color/camera_info
      • /torso_front_camera/aligned_depth_to_color/image_raw/*
      • /torso_front_camera/color/camera_info
      • /torso_front_camera/color/image_raw/*
      • /torso_front_camera/depth/camera_info
      • /torso_front_camera/depth/color/points
      • /torso_front_camera/depth/image_rect_raw/*
      • /torso_front_camera/infra1/camera_info
      • /torso_front_camera/infra1/image_rect_raw/*
      • /torso_front_camera/infra2/image_rect_raw/compressed
      • /torso_back_camera/fisheye1/camera_info
      • /torso_back_camera/fisheye1/image_raw/*
      • /torso_back_camera/fisheye2/camera_info
      • /torso_back_camera/fisheye2/image_raw/*
      • /head_front_camera/color/camera_info
      • /head_front_camera/color/image_raw/*
      • /head_front_camera/image_throttle/compressed
      • /audio/channel0
      • /audio/channel1
      • /audio/channel2
      • /audio/channel3
      • /audio/channel4
      • /audio/channel5
      • /audio/raw
      • /audio/sound_direction
      • /audio/sound_localization
      • /audio/speech
      • /audio/status_led
      • /audio/voice_detected
      • /mobile_base_controller/cmd_vel
      • /mobile_base_controller/odom
      • /scan
    • Meaning of ARI LEDs colors and patterns
    • Accessing your robot’s sensors
    • Tutorial: Automatic recording of audio
    • Robot hardware capabilities
    • LEDs API
    • Microphone array and audio recording
  • Mobile manipulation
    • Overview of the Advanced Grasping pipeline
    • Advanced Grasping: step-by-step
    • Tutorial: Customizing the Advanced Grasping pipeline
    • How-to: How to activate collision detection
    • Advanced Grasping API
  • Social perception
    • Social perception with ROS4HRI
    • How-to: How to detect a face, a skeleton or a person?
    • Tutorial: detect people oriented toward the robot (Python)
    • Tutorial: detect people around the robot (C++)
    • How-to: How to match face, body and voice of a person
    • Social perception topics
      • /humans/faces/*/aligned
      • /humans/faces/*/cropped
      • /humans/faces/*/landmarks
      • /humans/faces/*/roi
      • /humans/faces/tracked
      • /humans/persons/*/face_id
      • /humans/bodies/*/cropped
      • /humans/bodies/*/joint_states
      • /humans/bodies/*/position
      • /humans/bodies/*/roi
      • /humans/bodies/*/skeleton2d
      • /humans/bodies/tracked
      • /humans/bodies/*/velocity
      • /humans/persons/*/body_id
      • /humans/persons/*/voice_id
      • /humans/voices/*/audio
      • /humans/voices/*/is_speaking
      • /humans/voices/*/speech
      • /humans/voices/tracked
      • /humans/persons/*/alias
      • /humans/persons/*/anonymous
      • /humans/persons/*/body_id
      • /humans/persons/*/engagement_status
      • /humans/persons/*/face_id
      • /humans/persons/known
      • /humans/persons/*/location_confidence
      • /humans/persons/tracked
      • /humans/persons/*/voice_id
      • /humans/candidate_matches
  • Speech and language processing
    • Dialogue management
    • Wake-up word detector
    • Internationalisation and language support
    • Create, translate or update a chatbot
    • Trigger custom behaviours from the chatbot
    • Speech synthesis (TTS)
    • How-to: Automatic Speech Recognition (ASR)
    • Speech and language processing capabilities
    • ASR, TTS and dialogue management APIs
    • Default chit-chat/smalltalk capabilities of PAL’s robots
  • Expressive interactions
    • Controlling the attention and gaze of the robot
    • Getting started with ARI - Combine voice, gesture and eyes
    • Tutorial: Creating expressions with LEDs
    • Robot face and expressions
    • Expressive interactions capabilities
    • APIs for expressiveness control
      • /robot_face/expression
      • /look_at
      • /look_at_with_style
      • /attention_manager/set_policy
      • /gaze_manager/disable_gaze
      • /gaze_manager/disable_neck
      • /gaze_manager/enable_neck
      • /gaze_manager/reset_gaze
  • Navigation
    • How-to: control the mobile base
    • Laser-based SLAM and path planning on the robot
    • Vision-based SLAM
    • Managing maps
    • Autonomous navigation with PAL’s robots
    • SLAM and path planning in simulation
    • Laser-based SLAM and path planning on the robot with RViz
    • Laser-based SLAM and path planning on the robot with Web User Interface
    • Building Manager
    • Navigation Manager
    • Navigation capabilities
    • Navigation-related API
  • Knowledge and reasoning
    • Tutorial: Getting started with the knowledge base
    • How-to: How to add/remove/query facts
    • pykb reference
    • KnowledgeCore API
  • Gestures and motions
    • Creating pre-recorded motion with the Motion Builder
    • play_motion: How to play a pre-recorded motion
    • How-to: Implement a gaze-following behaviour
    • Gestures and motions capabilities
    • List of available motions
  • Touchscreen
    • Presentations
    • ARI’s Touchscreen manager
    • Tutorial: Building a first touchscreen interaction
    • Touchscreen capabilities
  • PAL’s robots SDK 23.12 Highlights
  • Getting started with TIAGo
  • Getting started with TIAGoPro
  • Getting started with ARI
  • Frequently Asked Questions
  • Glossary
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../_images/tiago-icon.png ../_images/tiagopro-icon.png ../_images/ari-icon.png

APIs for expressiveness control#

Section

Expressive interactions - reference

ROS topics#

Expression- and gaze-related topics:

  • /robot_face/expression
  • /look_at
  • /look_at_with_style

ROS services#

Attention and gaze control:

  • /attention_manager/set_policy
  • /gaze_manager/disable_gaze
  • /gaze_manager/disable_neck
  • /gaze_manager/enable_neck
  • /gaze_manager/reset_gaze

ROS messages#

  • hri_msgs/Expression

  • hri_action_msgs/LookAtWithStyle

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