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README.md

TAMS Master Project 2022/2023 - Msgs

This package contains all the custom messages and actions used in the project.

Actions

HitSequence.action

The HitSequence action is used to request the execution of a sequence of hits. It is defined as follows:

Goal Definition:

  • marimbabot_msgs/HitSequenceElement[] hit_sequence_elements: An array of HitSequenceElement messages that specify the hits to be played.

Result Definition:

  • time first_note_hit_time: The absolute time when the first note of the sequence was hit.

  • bool success: Indicates whether the goal was successfully achieved.

  • uint16 error_code: Provides an error code in case of failure

    • uint16 SUCCESS = 0: Successful completion.
    • uint16 PLANNING_FAILED = 1: Indicates that the planning process failed.
    • uint16 EXECUTION_FAILED = 2: Indicates that the execution of the action failed.

Feedback:

  • bool playing: Indicates whether the robot is currently playing, meaning that the goal is still active.

LilypondAudio.action

The LilypondAudio action is used to request the playing of an audio piece generated from a Lilypond string. It is defined as follows:

Goal Definition:

  • std_msgs/String lilypond_string: A string containing Lilypond notation to be interpreted and played.

Result Definition:

  • bool success: Indicates whether the audio is assumed to be played successfully.

Feedback:

  • bool in_progress: Indicates whether the audio is currently being played.

Messages

The following messages are defined in this package. For further information on the individual messages, please refer to the individual message files.

Command.msg

This message is used to send commands from the speech node to the behavior node. Have a look at README for more information on the command syntax and examples.

CQTStamped.msg

This message contains information of the Constant-Q Transform(CQT). See README for more information.

HitSequence.msg

This message contains an array of HitSequenceElement messages.

HitSequenceElement.msg

This message contains the information single element of a HitSequence message. It includes tone information, the start time of the note, the duration of the note and the loudness of the note.

NoteOnset.msg

Used for publish the detect music note.

SequenceMatchResult.msg

For published the final evaluation of the robot performance

Speech.msg

For published the transcribed test