PAL OS modules¶

PAL OS’ modules are the software service started automatically started on your robot when you turn it on.

They implement all the functionalities of the robot.

Important

You can check the full list of modules installed on your robot, as well as their status, either from the Web user interface, or using the following command:
```
$ pal module list
```
You can also check the log of a specific module using:
```
$ pal module log <module_id> cat
```
where <module_id> is the name of the module you want to check (see list below).

To enable (or disable) auto-start of a module, use:

$ pal module enable <module_id>
$ pal module disable <module_id>

Modules by capability¶

⚙️ Robot hardware ¶

change_controllers (documentation)
controller_manager (documentation)
default_controllers (documentation)
emergency_stop_controller (documentation)
led_manager_node (documentation)

Starts the robot’s LED manager, exposing a ROS API to set colors and visual effects.
low_battery_shutdown (documentation)
mm11_node (documentation)
mm11_setup_sonars (documentation)
pal_master_calibration (documentation)
pulseaudio (documentation)

Helper module used to wait for the complete initialization of pulseaudio (Linux audio manager).
respeaker_ros (documentation)

Starts the driver for the reSpeaker microphone
robot_state_publisher (documentation)
rt_dummy_devices_manager (documentation)
volume_control_pulseaudio (documentation)

Allows control of the volume of the robot from ROS

😄 Interaction ¶

asr_vosk (documentation)

Starts the speech-to-text service
attention_manager (documentation)

Starts the attention manager. This module implements eg the robot’s face tracking functionality.
audio_capture (documentation)

Starts the standard ROS audio capture pipeline.
audio_play (documentation)

Starts the standard ROS audio playback pipeline.
chatbot_rasa (documentation)

Starts a RASA-based chatbot. The chatbot implements general chit-chat capability, as well as some action recognition. See How-to: RASA chatbot for details.
communication_hub (documentation)

Starts PAL’s communication hub, in charge of routing incoming speech with chatbots and TTS. See 💬 Communication for details.
expressive_eyes (documentation)

Starts the procedural face manager that generates facial expression, controls the gaze direction, generate lip sync motions (where relevant).
gaze_manager (documentation)

Starts the node in charge of combining eye motion and neck motion to generate smooth gazing behaviour.
hri_body_detect (documentation)

Starts the 3D body and skeleton detector.
hri_emotion_recognizer (documentation)

Starts the face expression recognizer.
hri_engagement (documentation)

Starts the human engagement estimator.
hri_face_body_matcher (documentation)

Starts the node in charge of matching detected faces with detected bodies.
hri_face_detect (documentation)

Starts the face detector and 3D head pose estimator.
hri_face_identification (documentation)

Starts the face recognition node.
hri_person_manager (documentation)

Starts the probabilistic person manager, in charge of ‘aggregating’ person features (faces, bodies, voices) into full persons.
hri_visualization (documentation)

Starts the node that generates a video stream with Human-Robot Interaction-related overlays.
soft_wakeup_word (documentation)

Starts the node spotting wake-up keyword(s).
task_emotion_mirror (documentation)

One of ARI’s standard tasks, implementing a ‘emotion copy-cat’.
task_self_presentation_ari (documentation)

One of ARI’s standard tasks, implementing a self-presentation activity.
tts_engine (documentation)

Starts the text-to-speech engine.
welcome_app_ari (documentation)

The ‘welcome’ application, displayed on the ARI screen at start-up.

🛠 Robot management ¶

computer_diagnostics (documentation)
configuration_manager (documentation)
diagnostic_aggregator (documentation)
i18n_manager (documentation)

Starts the internationalization manager, in charge of managing which are the available languages on the robot, and switching between them.
robot_info_publisher (documentation)
rosclean (documentation)
statsdcc (documentation)
stores_server (documentation)

🦾 Manipulation ¶

move_group (documentation)

Launches Moveit functionalities

👋 Gestures and motions ¶

head_action (documentation)

Starts the head action server, enabling a pan/tilt control of the head.
play_motion2 (documentation)

🧭 Navigation ¶

advanced_navigation (documentation)

Launches premium Navigation functionalities
assisted_teleop (documentation)

Launches the assisted_teleop
docking (documentation)

Launches the docking capabilities
joystick (documentation)

Launches joystick interface and teleop
laser (documentation)

Launches Laser driver and filtering pipeline
localization (documentation)

Launches Localization functionalities
navigation (documentation)

Launches Navigation functionalities
rgbd (documentation)

Launches RGBD driver and filtering pipeline
slam (documentation)

Launches SLAM
twist_mux (documentation)

Launches twist mux

💡 Knowledge and reasoning ¶

knowledge_core (documentation)

Starts the robot’s RDF/OWL knowledge base.
people_facts (documentation)

Exports what the robot knows about surrounding humans to the knowledge_core knowledge base.

🖥️ User interfaces ¶

robot_head_display (documentation)

Starts the robot’s on-screen menu.
ui_server (documentation)

Starts the QML server, used to display user interfaces on the robot’s screen.
webgui_ferretdb (documentation)
webgui_rest_server (documentation)
webgui_ros2_utils (documentation)
websocket (documentation)
wg3_ari (documentation)