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

General overview of the 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 file-system.

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_target_detector asr_vosk attention attention_manager chatbot_rasa communication_hub controller_manager dlib dlo_ros emergency_stop_controller eulero_manager expressive_eyes(ari,tiagopro) face/eyescreen(ari,tiagopro) facialexpressions fieldsofview gaze_manager grasping gripper_*_controller hand_controller head_controller Hey5hand hri_engagement hri_face_body_matcher hri_face_detect hri_face_identification hri_fullbody 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 objectmaps obstacles oro pal_laser_filters people people_facts play_motion2 reMap reSpeakerIN reSpeakerOUT RGBADBcameras RGBADBcameras robot_head_display(tiagopro) robot_state_publisher slam_toolbox soft_wakeup_word speech 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 /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 /robot_face/expression service:/kb/revise /intents /humans/candidate_matches /humans/faces/* /humans/candidate_matches /humans/bodies/* /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 /map /intents action:/communication/say /mobile_base_controller/cmd_vel

Functional domains#

../_images/hardware.svg

⚙️ Robots hardware
../_images/touchscreen.svg

🦾 Manipulation
../_images/social_perc.svg

👥 Social perception
../_images/speech.svg

💬 Communication
../_images/expressiveness.svg

😄 Expressive interactions
../_images/navigation.svg

🧭 Navigation
../_images/reasoning.svg

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

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

🖥️ Touchscreen

See also#