Index

Symbols

/active_listening (topic) /advanced_grasping/clear_planning_scene (service) /advanced_grasping/grasp (action) /advanced_grasping/perception (action) /advanced_grasping/place (action) /amcl_pose (topic) /arm_controller/follow_joint_trajectory (action) /arm_controller/joint_trajectory (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_in/channel0 (topic) /audio_in/channel1 (topic) /audio_in/channel2 (topic) /audio_in/channel3 (topic) /audio_in/channel4 (topic) /audio_in/channel5 (topic) /audio_in/raw (topic) /audio_in/sound_direction (topic) /audio_in/sound_localization (topic) /audio_in/speech (topic) /audio_in/status_led (topic) /audio_in/voice_detected (topic) /audio_out/raw (topic) /backup (action) /base_imu (topic) /change_controllers (action) /chatbot/set_locale (action) /chatbot/trigger (topic) /cmd_vel (topic) /compute_path_through_poses (action) /compute_path_to_pose (action) /controller_manager/configure_controller (service) /controller_manager/list_controllers (service) /controller_manager/load_controller (service) /controller_manager/switch_controller (service) /controller_manager/unload_controller (service) /detect_dock (action) /detect_target (action) /diagnostics (topic) /diagnostics_agg (topic) /dlo_ros/odom (topic) /dock_robot (action) /docking_manager/get_docks (service) /docking_server/reload_database (service) /drive_on_heading (action) /end_effector_camera/camera_info (topic) /end_effector_camera/image_raw (topic) /end_effector_left_camera/camera_info (topic) /end_effector_left_camera/image_raw (topic) /end_effector_right_camera/camera_info (topic) /end_effector_right_camera/image_raw (topic) /eulero_manager/activate_building (service) /eulero_manager/activate_building_anchor (service) /eulero_manager/activate_floor (service) /eulero_manager/activate_floor_anchor (service) /eulero_manager/activate_lane (service) /eulero_manager/activate_map (service) /eulero_manager/activate_waypoint (service) /eulero_manager/activate_waypoint_list (service) /eulero_manager/activate_zone (service) /eulero_manager/create_building (service) /eulero_manager/create_building_anchor (service) /eulero_manager/create_floor (service) /eulero_manager/create_floor_anchor (service) /eulero_manager/create_lane (service) /eulero_manager/create_map (service) /eulero_manager/create_waypoint (service) /eulero_manager/create_waypoint_list (service) /eulero_manager/create_zone (service) /eulero_manager/deactivate_building (service) /eulero_manager/deactivate_building_anchor (service) /eulero_manager/deactivate_floor (service) /eulero_manager/deactivate_floor_anchor (service) /eulero_manager/deactivate_lane (service) /eulero_manager/deactivate_map (service) /eulero_manager/deactivate_waypoint (service) /eulero_manager/deactivate_waypoint_list (service) /eulero_manager/deactivate_zone (service) /eulero_manager/disable_building (service) /eulero_manager/disable_building_anchor (service) /eulero_manager/disable_floor (service) /eulero_manager/disable_floor_anchor (service) /eulero_manager/disable_lane (service) /eulero_manager/disable_map (service) /eulero_manager/disable_waypoint (service) /eulero_manager/disable_waypoint_list (service) /eulero_manager/disable_zone (service) /eulero_manager/enable_building (service) /eulero_manager/enable_building_anchor (service) /eulero_manager/enable_floor (service) /eulero_manager/enable_floor_anchor (service) /eulero_manager/enable_lane (service) /eulero_manager/enable_map (service) /eulero_manager/enable_waypoint (service) /eulero_manager/enable_waypoint_list (service) /eulero_manager/enable_zone (service) /eulero_manager/feedback (topic) /eulero_manager/get_building (service) /eulero_manager/get_building_anchor (service) /eulero_manager/get_floor (service) /eulero_manager/get_floor_anchor (service) /eulero_manager/get_lane (service) /eulero_manager/get_map (service) /eulero_manager/get_waypoint (service) /eulero_manager/get_waypoint_list (service) /eulero_manager/get_zone (service) /eulero_manager/list_building_anchors (service) /eulero_manager/list_buildings (service) /eulero_manager/list_floor_anchors (service) /eulero_manager/list_floors (service) /eulero_manager/list_lanes (service) /eulero_manager/list_maps (service) /eulero_manager/list_waypoint_lists (service) /eulero_manager/list_waypoints (service) /eulero_manager/list_zones (service) /eulero_manager/update (topic) /execute_task (action) /follow_path (action) /follow_waypoints (action) /gaze_manager/disable_neck (service) /gaze_manager/enable_neck (service) /gaze_manager/reset_gaze (service) /get_task_configuration (service) /get_task_types (service) /get_user_input (action) /global_costmap/clear_around_global_costmap (service) /global_costmap/clear_entirely_global_costmap (service) /global_costmap/clear_except_global_costmap (service) /global_costmap/costmap (topic) /global_costmap/footprint (topic) /global_costmap/get_costmap (service) /global_costmap/keepout_filter/toggle_filter (service) /global_costmap/speed_filter/toggle_filter (service) /go_and_dock (action) /goal_pose (topic) /gripper_controller/follow_joint_trajectory (action) /gripper_controller/increment (action) /gripper_controller/joint_trajectory (topic) /hand_left_controller/command (topic) /hand_right_controller/command (topic) /head_controller/command (topic) /head_controller/follow_joint_trajectory (action) /head_controller/increment (action) /head_controller/joint_trajectory (topic) /head_controller/point_head_action (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/*/expression (topic) /humans/faces/*/landmarks (topic) /humans/faces/*/roi (topic) /humans/faces/tracked (topic) /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/voices/*/audio (topic) /humans/voices/*/is_speaking (topic)

/humans/voices/*/speech (topic) /humans/voices/tracked (topic) /i18n_manager/set_locale (action) /initialpose (topic) /input_joy/cmd_vel (topic) /intents (topic) /joint_states (topic) /joint_torque_states (topic) /joy (topic) /joy_priority (topic) /joy_priority_action (action) /joy_turbo_angular_decrease (action) /joy_turbo_angular_increase (action) /joy_turbo_decrease (action) /joy_turbo_increase (action) /joy_turbo_reset (action) /joy_vel (topic) /kb/about (service) /kb/active_concepts (topic) /kb/add_fact (topic) /kb/details (service) /kb/events (service) /kb/events/* (topic) /kb/label (service) /kb/lookup (service) /kb/manage (service) /kb/query (service) /kb/remove_fact (topic) /kb/revise (service) /kb/sparql (service) /keepout_map_mask/mask (topic) /keepout_map_mask/mask_info (topic) /key_vel (topic) /learn_dock (action) /local_costmap/clear_around_local_costmap (service) /local_costmap/clear_entirely_local_costmap (service) /local_costmap/clear_except_local_costmap (service) /local_costmap/costmap (topic) /local_costmap/footprint (topic) /local_costmap/get_costmap (service) /local_costmap/keepout_filter/toggle_filter (service) /local_plan (topic) /logout (service) /look_at (topic) /map (topic) /map_mask_server/load_map (service) /map_mask_server/set_map (service) /map_metadata (topic) /map_saver/save_map (service) /map_server/load_map (service) /map_server/map (service) /mm11/led/set_strip_animation (service) /mm11/led/set_strip_color (service) /mm11/led/set_strip_flash (service) /mm11/led/set_strip_pixel_color (service) /mobile_base_controller/cmd_vel_unstamped (topic) /mobile_base_controller/odom (topic) /module_manager_node/configure_module_manager (service) /module_manager_node/disable_module (service) /module_manager_node/enable_module (service) /module_manager_node/get_module_info (service) /module_manager_node/get_module_log_file_path (service) /module_manager_node/list_module_sets (service) /module_manager_node/list_modules (service) /module_manager_node/start_module (service) /module_manager_node/start_module_manager (service) /module_manager_node/stop_module (service) /module_manager_node/stop_module_manager (service) /motion_manager (action) /navigate_through_poses (action) /navigate_through_waypoints (action) /navigate_to_pose (action) /navigate_to_target (action) /pal_led_manager/do_effect (action) /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) /particle_cloud (topic) /pause_navigation (topic) /phone_vel (topic) /pickup (action) /place (action) /plan (topic) /play_motion (action) /play_motion2 (action) /play_motion2/list_motions (service) /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) /pose (topic) /power/battery_level (topic) /power/is_charging (topic) /power/is_docked (topic) /power/is_emergency (topic) /power/is_plugged (topic) /power_status (topic) /robot_face/background_image (topic) /robot_face/expression (topic) /robot_face/image_raw/* (topic) /robot_face/look_at (topic) /rviz_joy_vel (topic) /safe_arm_controller/follow_joint_trajectory (action) /safe_arm_left_controller/follow_joint_trajectory (action) /safe_arm_right_controller/follow_joint_trajectory (action) /safe_torso_controller/follow_joint_trajectory (action) /say (action) /scan (topic) /scan_front_raw (topic) /scan_raw (topic) /scan_rear_raw (topic) /set_configuration (action) /set_initial_pose (service) /set_parameter (action) /slam_toolbox/clear_changes (service) /slam_toolbox/deserialize_map (service) /slam_toolbox/dynamic_map (service) /slam_toolbox/graph_visualization (topic) /slam_toolbox/manual_loop_closure (service) /slam_toolbox/pause_new_measurements (service) /slam_toolbox/reset (service) /slam_toolbox/save_map (service) /slam_toolbox/scan_visualization (topic) /slam_toolbox/serialize_map (service) /slam_toolbox/toggle_interactive_mode (service) /slam_toolbox/update (topic) /soft_wakeup_word/disable (service) /soft_wakeup_word/enable (service) /soft_wakeup_word/get_sleep_pattern (service) /soft_wakeup_word/get_wakeup_pattern (service) /soft_wakeup_word/set_sleep_pattern (service) /soft_wakeup_word/set_wakeup_pattern (service) /sonar_base (topic) /speed_limit (topic) /speed_map_mask/mask (topic) /speed_map_mask/mask_info (topic) /spin (action) /target_detector/goal (topic) /target_detector_server/image (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) /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_controller/command (topic) /torso_controller/follow_joint_trajectory (action) /torso_controller/increment (action) /torso_controller/joint_trajectory (topic) /torso_controller/safe_command (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) /touch_web_state (topic) /undock_robot (action) /updated_goal (topic) /volume/capture (parameter) /volume/playback (parameter) /wait (action) /wrist_ft (topic) /xtion/depth_registered/camera_info (topic) /xtion/depth_registered/image_raw (topic) /xtion/depth_registered/points (topic) /xtion/get_serial (service) /xtion/rgb/camera_info (topic) /xtion/rgb/image_raw (topic) /xtion/rgb/image_rect_color (topic) /xtion/rgb/set_camera_info (service)

_

__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 the robot's capabilities from javascript Accessing your robot's sensors Action Activity add() (knowledge_core.api.KB method) Add-ons for mobile bases Advanced Grasping API Advanced Grasping: step-by-step tutorial amcl (node) ament Anchor APIs for expressiveness control Application

Application package ARI ARI hardware APIs ARI hardware overview ARI power management and docking ARI safety and regulatory reference ARI unboxing ARI's Touchscreen manager ArUCO Asking for user input ASR asr Assisted Teleop Automatic code generation with ``rpk`` Automatic recording of audio Automatic speech recognition (ASR)

B

Bag Behavior tree behavior_server (node) bodies and voices BT

bt_navigator (node) bt_navigator_navigate_through_poses (node) bt_navigator_navigate_to_pose (node) Building Building a first touchscreen interaction Building anchor

C

Capability clear() (knowledge_core.api.KB method) Coding tutorials Communication Communication buses Communication skills Configuration files Configure an application to launch at start-up Configure your Environment controller_server (node) Controlling the attention and gaze of the robot Cosmap Filters API Costmap

Costmap Filters Costmap Filters Plugins Create Create a first robot behaviour with visual programming Create a simple engagement detector Create an application with ``rpk`` Creating a interactive user interface Creating a simple multi-modal interaction Creating custom faces Creating expressions with LEDs Creating no-code demos and presentations Creating pre-recorded motion with the Motion Builder Customizing the Advanced Grasping pipeline Cyclone DDS

D

Data management data privacy Debugging on the live robot Default chit-chat/smalltalk capabilities of |Productname| Demos Deploying ROS 2 packages on the robot details() (knowledge_core.api.KB method) Detect people around the robot (C++ tutorial) Detect people oriented toward the robot (Python tutorial) Developing applications Developing with ROS Developing with the PAL Developer Docker image

Dialogue management Disclaimers Displaying the URDF 3D model of your robot dlo_ros (node) dock_detector_server (node) Docker Docking Docking API Docking Manager Docking Server docking_manager (node) docking_server (node)

E

Electrical safety End effectors control and motions End-effectors Endoscopic camera addon Environmental Annotations

Environmental Annotations API Environmental metadata eulero_manager (node) exist() (knowledge_core.api.KB method) Expressive interactions Expressive interactions skills

F

Fact find() (knowledge_core.api.KB method) First start-up

Floor Floor anchor Frequently Asked Questions

G

Gamepad General overview of the software architecture Gestures and motions Gestures and motions skills and API Getting started Getting started with ARI - Combine voice and gesture Getting started with the knowledge base

Global costmap global_costmap (node) Goal Goal Navigation Goal Navigation API Goal Navigation BT Goal Navigation Plugins GPIOS of the mobile bases

H

hello() (knowledge_core.api.KB method) Highway hostname How to activate collision detection How to change your robot's motion controller How to design and trigger actions from the chatbot How to detect a face How to flash an ISO on your robot How to get support? How to grasp a cube on the flat surface?

How to integrate your own emotion/expression recognition node? How to know the battery level and charging status? How to launch the different components for person detection How to move the robot through whole body motion control How to move the robot through whole body move it How to plan motions with MoveIt! hri_body_detect (node) hri_emotion_recognizer (node) hri_face_body_matcher (node) hri_face_detect (node) hri_fullbody (node)

I

Implement a gaze-following behaviour Intent Intents

Internationalisation and language support Introduction to MoveIt -- when to use it Introduction to whole body motion control -- when to use it

J

Joint trajectory controllers Joint trajectory impedance controller

joy_teleop (node) joystick (node) joystick_relay (node)

K

Kangaroo Kangaroo hardware overview Kangaroo power management and docking Kangaroo Safety and regulatory reference Kangaroo's unboxing KB (class in knowledge_core.api) KbError

Keepout key_teleop (node) Knowedge base: how to add/remove/query facts Knowledge and reasoning Knowledge base Knowledge providers knowledge_core (node) KnowledgeCore API

L

label() (knowledge_core.api.KB method) Lane laserscan_multi_merger (node) LEDs API LEDs API for the mobile bases LIDARs sensors lifecycle_manager_advanced_navigation (node) lifecycle_manager_laser (node)

lifecycle_manager_localization (node) lifecycle_manager_navigation (node) List of available motions Local costmap local_costmap (node) Localization lookup() (knowledge_core.api.KB method) Low-level controllers and ros2_control

M

Manipulation Map Map Mask map_mask_server (node) map_saver (node) map_server (node) Mapping Meaning of ARI LEDs colors and patterns Microphone array and audio recording Mission

Mission controller Mobile base hardware overview Mobile base unboxing Mobile bases mobile_base_controller (node) Model Module Module manager Module set Multi-modal matching of faces

N

Nav2 Nav2 Behaviors Extensions Nav2 Controllers Extensions Nav2 Planners Extensions

Nav2 Plugins And Extensions Navigation Navigation Configuration Guide Navigation skills Network configuration

O

Occupancy grid octomap Odometry Omnidirectional mobile base Ontology

Operating system configuration and updates Optris thermal camera ORO: the OpenRobots Ontology Overview of the Advanced Grasping pipeline Overview of the robot's controllers OWL

P

Package PAL Docker script PAL gripper camera PAL Hey5 camera PAL Hey5 hand, [1] PAL Interaction simulator PAL OS highlights

PAL SDK for naoqi users pal_bt_navigator_through_waypoints (node) pal_bt_navigator_to_target (node) pal_laser_filters (node) planner_server (node) play_motion: How to play a pre-recorded motion Plugin Programming an interactive a story, [1]

R

rasa RealSense RGB-D cameras Reasoning skills remove() (knowledge_core.api.KB method) REST interface revise() (knowledge_core.api.KB method) Robot app development Robot face and expressions Robot hardware skills Robot identification Robot management Robot management skills Robot monitoring with Graphana Robot package Robot storage recommandations robot_state_publisher (node) Robotiq end-effectors

Robots hardware ROS ROS 2 communication ROS 2 Upgrade ROS Actions ROS APIs for manipulation ROS bag ROS Nodes ROS package tutorial ROS Parameters ROS Services ROS Topics ROS4HRI ROS_DOMAIN_ID, [1] rpk RQt RViz rviz

S

security serial id Serial number Series Elastic Actuators (SEA) arms Set up your developer environment sick* (node) Simulation Skill SLAM slam_toolbox_sync (node) Social perception Social perception skills

Social perception with ROS4HRI Speech synthesis (TTS) ssh SSH Connection SSH into the Robot Stamped point Statement stats() (knowledge_core.api.KB method) stt subscribe() (knowledge_core.api.KB method) Swapping end-effectors System recovery

T

Target Target Detection Target Detection API Target Detection Plugins Target Navigation Target Navigation API Target Navigation BT Target Navigation DEMO target_detector_server (node) Task Teleop TF TF frame The startup process of the robot and application management TIAGo TIAGo hardware APIs TIAGo hardware overview TIAGo Head TIAGo Head hardware overview TIAGo Head power management TIAGo Head Safety and regulatory reference TIAGo Head's unboxing TIAGo power management and docking TIAGo Pro TIAGo Pro hardware APIs TIAGo Pro hardware overview

TIAGo Pro power management and docking TIAGo Pro Safety and regulatory reference TIAGo Pro's unboxing TIAGo Safety and regulatory reference TIAGo torso (for omnidirectional base) TIAGo unboxing TIAGo's arm TIAGo's head TIAGo's torso TIAGo's wrist force/torque sensor Tooling and debugging of human-robot interactions Topics reference for social perception Touchscreen skills translate or update a chatbot Translating your applications Transport and storage TRIAGo TRIAGo hardware overview TRIAGo power management TRIAGo Safety and regulatory reference TRIAGo's unboxing Triples Troubleshooting tts TTS and dialogue management APIs twist_mux (node)

U

update() (knowledge_core.api.KB method) Upload new presentations or modify existing ones Upper body motion and ``play_motion2`` Upper body motion and play_motion User interfaces

Using ``ros_control`` Using gravity compensation on your robot Using the knowledge base with the chatbot Using the NVidia Jetson accelerator Using the PAL public Docker image Using the Web User Interface

V

Velodyne VLP-16 Virtual obstacle

Visual programming VPN network configuration

W

Wake-up word detector Waypoint Waypoint action Waypoint Navigation Waypoint Navigation API Waypoint Navigation BT Waypoint Navigation DEMO Waypoint Navigation Plugins

waypoint_follower (node) WBC upper-body teleoperation with joystick WBC upper-body teleoperation with leap motion WBC with admittance control demo WBC with Aruco demo WBC with rviz interactive markers Whole Body Control WPA-Entreprise configuration

Y

Your robot's "Hello world"

Z

Zone