hbba_lite

HBBA Lite

HBBA (Hybrid Behavior-Based Architecture) is the control architecture of T-Top. A hybrid robot architecture means that perceptual nodes can communicate with the behavior nodes and the planning modules. T-Top uses HBBA Lite implementation instead of the original one since HBBA Lite is simpler to use but less complete.

Core

See the HBBA Lite documentation.

T-Top

The following sections present T-Top specific information.

Resources

• motor: The resource to prevent conflicts over the motors.
• audio: The resource to prevent conflicts over the sound output.
• led: The resource to prevent conflicts over the LEDs.

Desire Types

• Camera3dRecordingDesire: To enable the recording of the 3D camera.
• Camera2dWideRecordingDesire: To enable the recording of the 2D Wide camera.
• RobotNameDetectorDesire: To enable the robot name detector node.
• RobotNameDetectorWithLedStatusDesire: To enable the robot name detector node and have feed on the LED strip.
• SlowVideoAnalyzer3dDesire: To enable the video analyzer node for the 3D camera at 1 Hz.
• FastVideoAnalyzer3dDesire: To enable the video analyzer node for the 3D camera at 5 Hz.
• FastVideoAnalyzer3dWithAnalyzedImageDesire: To enable the video analyzer node for the 3D camera at 5 Hz and to publish the analyzed image.
• SlowVideoAnalyzer2dWideDesire: To enable the video analyzer node for the 2D wide camera at 1 Hz.
• FastVideoAnalyzer2dWideDesire: To enable the video analyzer node for the 2D wide camera at 5 Hz.
• FastVideoAnalyzer2dWideWithAnalyzedImageDesire: To enable the video analyzer node for the 2D wide camera at 5 Hz and to publish the analyzed image.
• AudioAnalyzerDesire: To enable the audio analyzer node.
• VadDesire: To enable to VAD node.
• SpeechToTextDesire: To enable the speech to text node.
• ExploreDesire: To enable the explore node.
• FaceAnimationDesire: To change the face animation.
• LedEmotionDesire: To enable the led emotion node.
• LedAnimationDesire: To enable the led animation node.
• SoundFollowingDesire: To enable the node that makes T-Top follow the loudest sound.
• NearestFaceFollowingDesire: To enable the node that makes T-Top follow the nearest face.
• SpecificFaceFollowingDesire: To enable the node that makes T-Top follow a specific face.
• SoundObjectPersonFollowingDesire: To enable the node that makes T-Top follow the loudest sound, the people and the objects.
• TalkDesire: To make T-Top talk.
• GestureDesire: To make T-Top perform a head gesture.
• DanceDesire: To make T-Top dance.
• PlaySoundDesire: To make T-Top play a sound file.
• TelepresenceDesire: To make T-Top perform a video call
• TeleoperationDesire: To enable remote control of T-Top.
• TooCloseReactionDesire: To enable the too near reaction behavior.

Strategies

The strategies are declared in the following files: Strategies.h and Strategies.cpp.