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Overview

This package is developed by Adele Robots. It currently contains nodes for communication between ROS and Adele Robots´ AI cloud platform FIONA. The fiona_ros package has been developed as part of an ROSIN ITP project.

Purpose of fiona_pkg

The objective of the project of which this package is part, is to integrate FIONA with ROS and ROSIndustrial. This objective is divided into two main tasks:

  1. To adapt the FIONA servers and tools so that they can run ROS-based applications. This will allow developers to build new components for FIONA using the ROS framework, and integrators to include these ROS components in their FIONA applications in a simple and intuitive way.
  2. To make the client ROS compliant. This way, ROS and ROS-Industrial applications will be able to connect to and make use of all the functionality from FIONA by just adding this ROS-based FIONA client to their application.

This second objective, is the one that fiona_pkg is going to fulfil.

What is FIONA?

Fiona stands for Framework for Interactive-services Over Natural-conversational Agents and it’s an exciting new online platform to create the next generation of Virtual Agents and Avatars: more interactive, more striking and smarter.

Avatars and Virtual Agents consist of different components and functionalities, for example a TTS, an emotion recognition module, or the appearance of the character. In Fiona these components are called sparks.

Sparks represent certain features or processes within the operation of the avatar. A Spark is a wrapper for one of those functionalities and it can talk to other sparks about what it is doing. They offer and share information with each other, and they use that information to do a specific thing. For instance, there is a Spark that is able to render the face of a virtual agent in relation to data given to it by other Sparks as the position of the eyes, which in turn is extracted from another Spark that tracks human faces. This is only an example of Sparks working together to share data and make things happen.

You need interfaces for the sparks to be able to communicate with other sparks. Each interface has its own purpose and not all the interfaces can be used with every spark.

There are 2 groups of interfaces: Asking Interfaces and Answering Interfaces. There is always a dialogue between them. The Asking Interfaces call and the Answering Interfaces get the call.

You can find more information in Fiona´s Wiki.

Communication between FIONA and ROS

So far we know about FIONA, that its functionalities are called Sparks (you could think they are to FIONA what nodes are to ROS) and that sparks need interfaces to communicate.

As we want to establish a bidirectional communication between FIONA and ROS, we are going to focus in two main tasks:

  1. ROS getting information from FIONA.
  2. FIONA getting information from ROS.

All the code related to the following information in this page and to the project is available at this GitHub repository.

ROS getting information from FIONA

We establish a request / reply done via a Service. A providing FIONA ROS-based Spark offers a service under a string name, and a ROS node of fiona_pkg client calls the service by sending the request message and awaiting the reply.

FIONA ROS-based Sparks

Full code of ROS-based FIONA sparks is available here.

ROS nodes in fiona_pkg

Our fiona_pkg contains a node (client) for each of the FIONA interfaces.

Services are defined using srv files, so they are compiled into source code by our fiona_pkg client library. As there is a service for each FIONA interface, there is a srv file and a ROS node client for each interface too. This means that each srv file has specific requests and response depending on the interface they want information from.

Some of the interfaces do not need any data coming from the request, so these requests are constant values already established into the launch files of the corresponding fiona_pkg node. From now on, these requests will be called void_request.

Full code of fiona_pkg is available here.

In order to see the steps for building fiona_pkg in your catkin workspace, go to BUILDING.md.

FIONA getting information from ROS

We have a Spark that creates a publisher so we have a topic associated with a particular message type. As we are focusing on ROS-FIONA communication, this Spark will publish a string to this topic, asking ROS the message or the information that FIONA wants to receive. We could´ve used services as before, but with this, we also show an example of publisher/subscriber nodes.

The publisher in this case is: ROSTalkerSpark.

And the subscriber is the node in fiona_pkg: fiona_listener.cpp.

ROSTEST

In order to test our project, we have built one test for each service. In [fiona_pkg/src](fiona_pkg/src) we have the clients and the listener explained before, but we also have servers, which are the ROS-node equivalent of the ROS-Sparks and a talker that is the ROS-node equivalent of ROSTalkerSpark.

This is going to be clearer with an example. For this example we are going to focus on fiona_animation. * Real scenario: We allow ROS to get information about FIONA Animation interface with a ROS node as the client and a FIONA Spark as the server.

* Testing scenario: In order to check that client and server are built correctly, we create a ROS node server which is equivalent to FIONA Spark server, that is, we use the exact same code but we write it as an executable program running on our ROS machine instead of a Spark, which at the end FIONA uses as a dynamic library. That is why we say that the ROS node servers are equivalent to FIONA Sparks servers.

A test for each service is available in fiona_pkg/tests. All services have been successfully tested as you can find in fiona_pkg/test_results so this means that FIONA Sparks, that are the servers in the real scenario, are correctly built.

Example applications of the connection between ROS and our AI cloud FIONA will be shown as part of the following milestone of the project.

To see the steps for testing, go to TESTING.md.

Continuous integration

We have used Travis CI to build and test this project and all the previous tests. So, with each git push, travis would build the project and test it.

You can see that the project is succesfully built here.

Acknowledgement

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Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information: rosin-project.eu.

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This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.


2020-09-12 12:25