../_images/tiagopro-icon.png ../_images/tiago-head-icon.png ../_images/kangaroo-icon.png ../_images/tiago-icon.png ../_images/triago-icon.png ../_images/ari-icon.png ../_images/talos-icon.png ../_images/mobile-bases-icon.png

PAL software architecture

PAL robots all share the same general software architecture.

This architecture is designed to be modular, flexible, and scalable, and is based on the Robot Operating System (ROS).

This page give a general overview of the architecture; specific details can be found in the documentation of each functional domain.

For specific information about the operating system, operating system configuration and updates, please refer to Operating system configuration and updates.

Architecture diagram

The following diagram shows the key nodes, topics, services and actions that are available on your robot.

Navigate the architecture diagram with the mouse; zoom with your mouse wheel.

... applicationmanager arm_*_controller aruco_object_tracker aruco_target_detector ask asr_vosk attention attention_manager chat chatbot_rasa communication_hub controller_manager dlib dlo_ros emergency_stop_controller eulero_manager execute_cartesian_trajectory execute_joint_trajectory expressive_eyes(ari,tiagopro) face/eyescreen(ari,tiagopro) gaze_manager grasp gripper_*_controller hand_controller hand_grasp head_controller Hey5hand hri_body_detect hri_emotion_recognizer hri_engagement hri_face_body_matcher hri_face_detect hri_face_identification hri_person_manager human_description i18n_manager jointencoders joints joy_teleop joystick joystick_relay key_teleop keyboard knowledge_core laser_target_detector laserscan_multi_merger laserscanner(front) laserscanner(rear) led_manager_node leds leds map map_mask_server mediapipe missionimplementation mobile_base_controller mobilebase motion MoveIt nav2_amcl nav2_behaviour_server nav2_bt_navigator nav2_controller_server nav2_map_saver nav2_map_server nav2_planner_server nav2_waypoint_follower navdatabase navigate_through_waypoints navigate_to_target navigation ONNXFerPlus oro pal_laser_filters people_facts place play_motion2 remap_manager remap_plugin_faces remap_plugin_mesh remap_plugin_nav_map remap_plugin_objects remap_plugin_query remap_plugin_robot remap_plugin_spatial_relations reSpeakerIN reSpeakerOUT RGB(D)cameras RGB(D)cameras robot_head_display(tiagopro) robot_state_publisher say setexpressions skill_execute_cartesian_trajetory skill_execute_joint_trajectory skill_grasp skill_hand_grasp skill_place slam_toolbox soft_wakeup_word target_detector_server task1 task2 taskn torso_controller tts_engine tts_plugin_acapela tts_plugin_non_verbal twist_mux volume_control_pulseaudio Webuserinterface wheelencoders YOLO yolo_ros_onnx YuNet /humans/voices/*/speech /humans/voices/*/speech /look_at /look_at service:/chatbot_rasa/get_response service:/chatbot_rasa/reset /intents action:/tts_engine/tts /tf /humans/bodies/* service:/kb/revise /intents /humans/candidate_matches /humans/faces/* /humans/candidate_matches /humans/persons/* /humans/persons/* URDF action:/asr_vosk/set_default_locale action:/chatbot_rasa/set_default_locale action:/tts_engine/set_default_locale /input_joy/cmd_vel /joy service:/kb/query /scan_raw /scan_front_raw /scan_rear_raw /mobile_base_controller/odom /mobile_base_controller/odom /mobile_base_controller/odom /local_costmap /cmd_vel /map /map action:/detect_target OWL/RDF /scan /scan /scan service:/kb/revise /audio/channel0 /audio/voice_detected /rgbd_camera/color/image_raw action:/set_default_locale action:/communication/say /robot_face/expression /map /intents /mobile_base_controller/cmd_vel

Functional domains

../_images/hardware.svg

⚙️ Robot hardware
../_images/touchscreen.svg

🦾 Manipulation
../_images/social_perc.svg

👥 Social perception
../_images/speech.svg

💬 Communication
../_images/expressiveness.svg

😄 Interaction
../_images/navigation.svg

🧭 Navigation
../_images/reasoning.svg

💡 Knowledge and reasoning
../_images/motions.svg

👋 Gestures and motions
../_images/touchscreen.svg

🖥️ User interfaces

See also