Index

Symbols

/active_chatbot (service) /active_listening (topic) /advanced_grasping/clear_planning_scene (service) /advanced_grasping/grasp (action) /advanced_grasping/perception (action) /advanced_grasping/place (action) /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/channel0 (topic) /audio/channel1 (topic) /audio/channel2 (topic) /audio/channel3 (topic) /audio/channel4 (topic) /audio/channel5 (topic) /audio/raw (topic) /audio/sound_direction (topic) /audio/sound_localization (topic) /audio/speech (topic) /audio/status_led (topic) /audio/voice_detected (topic) /base_imu (topic) /chatbot/set_locale (action) /chatbot/trigger (topic) /current_zone_of_interest (topic) /diagnostics (topic) /diagnostics_agg (topic) /docking/was_docked (parameter) /execute_task (action) /gaze_manager/disable_gaze (service) /gaze_manager/disable_neck (service) /gaze_manager/enable_neck (service) /gaze_manager/reset_gaze (service) /get_speech_duration (service) /get_task_configuration (service) /get_task_types (service) /get_user_input (action) /go_and_dock (action) /hand_left_controller/command (topic) /hand_right_controller/command (topic) /head_controller/command (topic) /head_controller/follow_joint_trajectory (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/*/landmarks (topic) /humans/faces/*/roi (topic) /humans/faces/height (parameter) /humans/faces/tracked (topic) /humans/faces/width (parameter) /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/reference_frame (parameter) /humans/voices/*/audio (topic) /humans/voices/*/is_speaking (topic) /humans/voices/*/speech (topic) /humans/voices/tracked (topic) /i18n_manager/set_locale (action) /intents (topic) /interaction_logger (topic) /interaction_profile_manager/parameter_updates (topic) /interaction_profile_manager/set_parameters (service) /joint_states (topic) /kb/about (service) /kb/add_fact (topic) /kb/events (service) /kb/events/* (topic) /kb/lookup (service) /kb/manage (service) /kb/query (service) /kb/remove_fact (topic) /kb/revise (service) /kb/sparql (service) /left_eye (topic) /logout (service) /look_at (topic) /look_at_with_style (topic) /map (topic) /master_calibration/ari_rgbd_sensors_calibration/ir_torso_exposure (parameter) /master_calibration/user_preferences (parameter) /mobile_base_controller/cmd_vel (topic) /mobile_base_controller/odom (topic)

/motion_manager (action) /move_base (action) /move_base/current_goal (topic) /move_base_simple/goal (topic) /offline_map/undo_last_update (service) /offline_map/update_map (service) /pal/language (parameter) /pal/playback_volume (parameter) /pal/time_zone (parameter) /pal_image_navigation_node/image_goal (action) /pal_image_navigation_node/image_look (action) /pal_led_manager/do_effect (action) /pal_map_manager/change_building (service) /pal_map_manager/change_map (service) /pal_map_manager/current_map (service) /pal_map_manager/list_maps (service) /pal_map_manager/rename_map (service) /pal_map_manager/save_curr_building_conf (service) /pal_map_manager/save_map (service) /pal_master_calibration/save_calibration_section (service) /pal_navigation_sm (service) /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) /pal_repository/last_upgrade (parameter) /pal_repository/repository (parameter) /pal_repository/version (parameter) /pal_robot_info (parameter) /pal_startup_control/get_log (service) /pal_startup_control/get_log_file (service) /pal_startup_control/start (service) /pal_startup_control/stop (service) /pause_navigation (topic) /pickup (action) /place (action) /play_motion (action) /play_motion/motions (parameter) /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) /power/battery_level (topic) /power/is_charging (topic) /power/is_docked (topic) /power/is_emergency (topic) /power/is_plugged (topic) /power_status (topic) /right_eye (topic) /robot_face (parameter) (topic) /robot_face/background_image (topic) /robot_face/expression (topic) /robot_face/look_at (topic) /robot_face/overlay (action) /robot_face/reset_background (service) /ros_web_cfg/robot_name (parameter) /safe_arm_left_controller/follow_joint_trajectory (action) /safe_arm_right_controller/follow_joint_trajectory (action) /scan (topic) /sonar_base (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) /task_executor/do_tasks_autonomously (parameter) /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_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) /torso_front_camera/rgb_camera/set_parameters (service) /torso_front_camera/stereo_module/set_parameters (service) /touch_web_state (topic) /tts (action) /tts/supported_languages (parameter) /undocker_server (action) /user_input (topic) /wakeup_monitor/enable (service) /wakeup_monitor/get_sleep_pattern (service) /wakeup_monitor/get_wakeup_pattern (service) /wakeup_monitor/set_sleep_pattern (service) /wakeup_monitor/set_wakeup_pattern (service) /web/go_to (topic) /web_subtitles (topic) /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) ``pykb`` reference

_

__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) Advanced grasping Advanced Grasping API Advanced Grasping: step-by-step tutorial APIs for expressiveness control Application Application Controller

Application Manager Application manifest Application package ARI hardware APIs ARI hardware overview ARI power management and docking ARI safety and regulatory reference ARI unboxing ARI's "Hello world" ASR asr Automatic recording of audio Automatic speech recognition (ASR) Autonomous navigation with |Productname|

B

Bag body and voice of a person

Building a first touchscreen interaction Building Manager

C

Capability Change camera displayed on a Web Commander tab clear() (knowledge_core.api.KB method) Communication Communication skills Configuration files Configure an application to launch at start-up

Controlling the attention and gaze of the robot Create Create an application with ``pal_app`` Creating a simple multi-modal interaction Creating expressions with LEDs Creating no-code user interactions with ARI Creating pre-recorded motion with the Motion Builder Customizing the Advanced Grasping pipeline

D

Data management data privacy Default chit-chat/smalltalk capabilities of |Productname| Deploying a Docker image on the robot Deploying ROS packages on the robot Detect people around the robot (C++ tutorial)

Detect people oriented toward the robot (Python tutorial) Developing applications Developing with ROS Developing with the SDK Docker image Dialogue management Disclaimers Docker

E

exist() (knowledge_core.api.KB method)

Expressive interactions Expressive interactions skills

F

Fact find() (knowledge_core.api.KB method)

First start-up Frequently Asked Questions

G

Gestures and motions Gestures and motions skills Getting started Getting started with ARI

Getting started with ARI - Combine voice and gesture Getting started with simulation Getting started with the knowledge base Getting started with TIAGo Getting started with your robot

H

hello() (knowledge_core.api.KB method) How to activate collision detection How to add/remove/query facts How to control the mobile base 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 know the battery level and charging status? How to match face hri_face_body_matcher (node) hri_face_detect (node) hri_fullbody (node)

I

Implement a gaze-following behaviour Intent

Intents Internationalisation and language support

K

KB (class in knowledge_core.api) KbError Knowledge and reasoning Knowledge base

knowledge_core (node) knowledge_core.api module KnowledgeCore API

L

LEDs API List of available motions

Log and retrieve data form the robot lookup() (knowledge_core.api.KB method)

M

Managing maps Manifest Meaning of ARI LEDs colors and patterns Microphone array and audio recording

Mobile manipulation Mobile manipulation skills Model module knowledge_core.api

N

Navigation Navigation Manager

Navigation skills Navigation-related API Network configuration

O

octomap Ontology

Operating system configuration and updates OWL

P

Package play_motion: How to play a pre-recorded motion

POI Point of Interest Programming an interactive a story

R

rasa remove() (knowledge_core.api.KB method) REST interface revise() (knowledge_core.api.KB method) Robot app development Robot face and expressions Robot hardware Robot hardware skills Robot identification Robot management Robot management skills Robot package

Robot storage recommandations robot_state_publisher (node) ROS ROS Actions ROS Bag ROS Nodes ROS package tutorial ROS Parameters ROS Services ROS Topics ROS4HRI rpk rviz

S

SDK highlights security Series Elastic Actuators (SEA) arms Skill SLAM and path planning, [1] SLAM and path planning in simulation SLAM and path planning using the Web User Interface Social perception Social perception with ROS4HRI

Speech synthesis (TTS) Stamped point startup startups Statement stats() (knowledge_core.api.KB method) stt subscribe() (knowledge_core.api.KB method) System recovery

T

task TF TF frame The robot's start-up process and application management The WebCommander tool TIAGo hardware APIs TIAGo hardware overview TIAGo power management and docking TIAGo Safety and regulatory reference

TIAGo's unboxing Topics reference for social perception Touchscreen Touchscreen manager Touchscreen skills translate or update a chatbot Triples tts TTS and dialogue management APIs

U

update() (knowledge_core.api.KB method) Upload new presentations or modify existing ones

Upper body motion and ``play_motion`` Using the knowledge base with the chatbot Using the Web User Interface

V

Velodyne VLP-16

Vision-based SLAM Visual programming

W

Wake-up word detector

Z

ZOI