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ROS interfaces

This document describes the topics and services exposed/consumed by the perception server and how they map to the plugin drivers.

Messages

fp_perception_msgs/msg/PerceptionAudio

Fields:

  • std_msgs/Header header
  • int16[] samples
  • int32 sample_rate
  • int32 channels
  • int32 chunk_size
  • int32 chunk_count
  • bool override

Usage notes:

  • samples are signed 16-bit PCM.
  • The server publishes this message when interface.audio_input.publish is enabled.
  • The server can also subscribe to audio output and forward it into the speaker driver.

fp_perception_msgs/msg/PerceptionText

Fields:

  • std_msgs/Header header
  • string text
  • string voice
  • string instructions

Usage notes:

  • Used as the input to the speech synthesis service.
  • voice/instructions are optional; drivers may apply defaults.

Services

fp_perception_msgs/srv/PerceptionTranscribe

Request:

  • PerceptionAudio audio
  • bool use_device_audio
  • int32 audio_request_window

Response:

  • std_msgs/Header header
  • string transcription
  • bool success

The server uses use_device_audio to decide whether to use its internal microphone buffer or the request-provided audio. When use_device_audio=true, audio_request_window controls how many seconds of audio the server collects from its public ring buffer.

fp_perception_msgs/srv/PerceptionSpeech

Request:

  • PerceptionText input
  • bool use_device_audio

Response:

  • bool success
  • PerceptionAudio audio

When use_device_audio is true, the server routes the synthesized audio to the speaker driver instead of returning it.

fp_perception_msgs/srv/PerceptionSentiment

Request:

  • std_msgs/Header header
  • string text
  • bool use_device_audio
  • int32 audio_request_window

Response:

  • string label
  • float64 score
  • string analyzed_text

When use_device_audio is true, the server transcribes its microphone buffer first and then runs sentiment analysis on the transcribed text.

fp_perception_msgs/srv/PerceptionImageAnalysis

Request:

  • std_msgs/Header header
  • sensor_msgs/Image image
  • string prompt
  • bool use_device_vision

Response:

  • string response

When use_device_vision is true, the server pulls the latest frame from the configured vision driver instead of using the request-provided image.