Defines the gazing direction of the robot. This skill can be used to either look at a specific point in space (a ROS tf frame), or to set a generic gaze policy, such as looking at people around the robot.

Using the glance policy, you can also use this skill to brielfy look at a specific point in space, before returning to the previous gaze policy.

Detailed documentation and examples: look_at

`ask`¶

Domains: communication
Interface: /skill/ask
Message type: communication_skills/action/Ask

A specialization of the chat where the role is predefined and the dialogue is always initiated by the robot.

See How-to: Dialogue management for details.

Detailed documentation and examples: ask

`chat`¶

Domains: communication
Interface: /skill/chat
Message type: communication_skills/action/Chat

Start a dialogue with a defined purpose.

See How-to: Dialogue management for details.

Detailed documentation and examples: chat

`say`¶

Domains: communication
Interface: /skill/say
Message type: communication_skills/action/Say

Speak out the provided input text (also executing any additional markup action).

See How-to: Speech synthesis (TTS) for details.

Detailed documentation and examples: say

PAL public skills API¶

navigate_to_pose¶

navigate_to_waypoint¶

navigate_to_zone¶

ask_human_for_help¶

look_for_human¶

look_for_object¶

set_expression¶

look_at¶

ask¶

chat¶

say¶

`navigate_to_pose`¶

`navigate_to_waypoint`¶

`navigate_to_zone`¶

`ask_human_for_help`¶

`look_for_human`¶

`look_for_object`¶

`set_expression`¶

`look_at`¶

`ask`¶

`chat`¶

`say`¶