Robotic Interaction Service Avatar
  1. OMG Specification

Robotic Interaction Service — All Issues

  • Acronym: RoIS
  • Issues Count: 24
  • Description: All Issues
Closed All
All Issues

Issues Summary

Key Issue Reported Fixed Disposition Status
ROIS-13 Parameters for Localization component RoIS 1.0b1 RoIS 1.0 Resolved closed
ROIS-12 Parameters for System Information component RoIS 1.0b1 RoIS 1.0 Resolved closed
ROIS-24 "Supported by" in Acknowledgements should be modified RoIS 1.0b1 RoIS 1.0 Resolved closed
ROIS-23 Table number missing in 7.6 RoIS 1.0b1 RoIS 1.0 Resolved closed
ROIS-11 RoIS_Common in System Information component RoIS 1.0b1 RoIS 1.0 Resolved closed
ROIS-10 Parameter in HRI Engine Profile RoIS 1.0b1 RoIS 1.0 Resolved closed
ROIS-20 Unifying Notation of Terms RoIS 1.0b1 RoIS 1.0 Resolved closed
ROIS-19 Miss speling in Table 7.2 RoIS 1.0b1 RoIS 1.0 Resolved closed
ROIS-15 Additional Normative References RoIS 1.0b1 RoIS 1.0 Resolved closed
ROIS-14 Parameters for Speech Synthesis component RoIS 1.0b1 RoIS 1.0 Resolved closed
ROIS-17 Wrong Expression RoIS 1.0b1 RoIS 1.0 Resolved closed
ROIS-16 Notification of Profile change RoIS 1.0b1 RoIS 1.0 Resolved closed
ROIS-21 Complex definition of "Command Unit List" RoIS 1.0b1 RoIS 1.0 Resolved closed
ROIS-22 General System Message Class should be defined RoIS 1.0b1 RoIS 1.0 Resolved closed
ROIS-18 Condition for identifying message RoIS 1.0b1 RoIS 1.0 Resolved closed
ROIS-6 Order of HRI Engine and Service Application should be changed RoIS 1.0b1 RoIS 1.0 Resolved closed
ROIS-5 Definition of HRI Engine is ambiguous RoIS 1.0b1 RoIS 1.0 Resolved closed
ROIS-8 Parameter definitions for Error Message RoIS 1.0b1 RoIS 1.0 Resolved closed
ROIS-7 Relationship with RTC and ROS RoIS 1.0b1 RoIS 1.0 Resolved closed
ROIS-9 Occurrence of sub component for Component Profile RoIS 1.0b1 RoIS 1.0 Resolved closed
ROIS-4 Command Result Message definitions (rois-ftf) RoIS 1.0b1 RoIS 1.0 Resolved closed
ROIS-27 Schematic diagram of RoIS Framework (Figure 5, in Section 7.2) requires an update RoIS 1.0b1 RoIS 1.0 Resolved closed
ROIS-25 Copyright holders should be modified RoIS 1.0b1 RoIS 1.0 Resolved closed
ROIS-26 Two types of parameters to be distinguished RoIS 1.0b1 RoIS 1.0 Resolved closed

Issues Descriptions

Parameters for Localization component

  • Key: ROIS-13
  • Legacy Issue Number: 16928
  • Status: closed  
  • Source: JARA ( Miki Sato)
  • Summary:

    In Table 7.36 “person_localization”( and other localization components), parameters of sensing-cycle and/or resolution (minimum position difference which sensor can distinguish) are required. These parameters should be added for (optional ) get_parameter. In addition, Detection-cycle (multiple of sensing-cycle) and Detection-difference (larger than resolution) may be set by set_parameter.

  • Reported: RoIS 1.0b1 — Mon, 12 Dec 2011 05:00 GMT
  • Disposition: Resolved — RoIS 1.0
  • Disposition Summary:

    Add command_method entries for set_parameter and get_parameter to the table 7.36, and also add two parameters detection-threshold and minimum-interval.

  • Updated: Fri, 6 Mar 2015 20:58 GMT

Parameters for System Information component

  • Key: ROIS-12
  • Legacy Issue Number: 16927
  • Status: closed  
  • Source: JARA ( Miki Sato)
  • Summary:

    In Table 7.34 “System Information”, “robot ref(List<RoIS_Identifier>)” is required for “robot_position”, same as person position data in "Person localization"
    In addition, ”position_data” should be List<Data>.

  • Reported: RoIS 1.0b1 — Mon, 12 Dec 2011 05:00 GMT
  • Disposition: Resolved — RoIS 1.0
  • Disposition Summary:

    A system may operate several robots in an HRI Engine when the engine has sub HRI Engines or it controls multiple robots. In this case, each robot position should be distinguished by robot's ID (i.e. robot ref). So the ordered lists of robot ref and position are returned as result parameters

  • Updated: Fri, 6 Mar 2015 20:58 GMT

"Supported by" in Acknowledgements should be modified

  • Key: ROIS-24
  • Legacy Issue Number: 17141
  • Status: closed  
  • Source: JARA ( Mr. Koji Kamei)
  • Summary:

    Miss speling in ATR (missing 'd').
    Several organization should be added such as Korean Robot Association,
    Future Robot Co., Ltd., University of Tokyo an Hitachi.

  • Reported: RoIS 1.0b1 — Mon, 20 Feb 2012 05:00 GMT
  • Disposition: Resolved — RoIS 1.0
  • Disposition Summary:

    As these organizations supported drafting a document, I'd like to add them to the acknowledgment list

  • Updated: Fri, 6 Mar 2015 20:58 GMT

Table number missing in 7.6

  • Key: ROIS-23
  • Legacy Issue Number: 17140
  • Status: closed  
  • Source: JARA ( Mr. Koji Kamei)
  • Summary:

    In p. 46, line 3, Table number (7.31) is missing.

  • Reported: RoIS 1.0b1 — Mon, 20 Feb 2012 05:00 GMT
  • Disposition: Resolved — RoIS 1.0
  • Disposition Summary:

    TYPO. Should be added.

  • Updated: Fri, 6 Mar 2015 20:58 GMT

RoIS_Common in System Information component

  • Key: ROIS-11
  • Legacy Issue Number: 16926
  • Status: closed  
  • Source: JARA ( Miki Sato)
  • Summary:

    In Figure 17, “RoIS_Common” should be removed because System Information component does not include RoIS_Common messages.

  • Reported: RoIS 1.0b1 — Mon, 12 Dec 2011 05:00 GMT
  • Disposition: Resolved — RoIS 1.0
  • Disposition Summary:

    RoIS_Common should be removed

  • Updated: Fri, 6 Mar 2015 20:58 GMT

Parameter in HRI Engine Profile

  • Key: ROIS-10
  • Legacy Issue Number: 16925
  • Status: closed  
  • Source: JARA ( Miki Sato)
  • Summary:

    In Table 7.30 “HRI_Engine_Profile”, parameters of HRI engine is defined in this profile. However, these parameter should be defined in the Component Profile of “System Information Component” for this Engine. Therefore, "parameter" definitions in HRI engine profile should be removed.

  • Reported: RoIS 1.0b1 — Mon, 12 Dec 2011 05:00 GMT
  • Disposition: Resolved — RoIS 1.0
  • Disposition Summary:

    Remove the definition of "parameter" from the profile

  • Updated: Fri, 6 Mar 2015 20:58 GMT

Unifying Notation of Terms

  • Key: ROIS-20
  • Legacy Issue Number: 17136
  • Status: closed  
  • Source: JARA ( Mr. Koji Kamei)
  • Summary:

    "HRI Engine," "HRI Components" and other terms defined in Section 4 should be
    unified as in the definition table.

  • Reported: RoIS 1.0b1 — Mon, 20 Feb 2012 05:00 GMT
  • Disposition: Resolved — RoIS 1.0
  • Disposition Summary:

    For example, "engine" and "component" are general words while the terms "HRI Engine" and "HRI Component" are specific to this document. To distinguish them, the notation of specific terms will be unified as "HRI Engine," "HRI Component," etc. as in Section 4.

  • Updated: Fri, 6 Mar 2015 20:58 GMT

Miss speling in Table 7.2

  • Key: ROIS-19
  • Legacy Issue Number: 17135
  • Status: closed  
  • Source: JARA ( Mr. Koji Kamei)
  • Summary:

    In Table 7.2 (p.31), the word "Enghien" should be "Engine." (in the "connect" row)

  • Reported: RoIS 1.0b1 — Mon, 20 Feb 2012 05:00 GMT
  • Disposition: Resolved — RoIS 1.0
  • Disposition Summary:

    TYPO. Should be corrected.

  • Updated: Fri, 6 Mar 2015 20:58 GMT

Additional Normative References

  • Key: ROIS-15
  • Legacy Issue Number: 16930
  • Status: closed  
  • Source: JARA ( Miki Sato)
  • Summary:

    In 3.1 “Normative References”, ISO19143 (Geographic information - Filter encoding) should be added in the list.
    This reference is referred for QueryExpression.

  • Reported: RoIS 1.0b1 — Mon, 12 Dec 2011 05:00 GMT
  • Disposition: Resolved — RoIS 1.0
  • Disposition Summary:

    The reference should be added

  • Updated: Fri, 6 Mar 2015 20:58 GMT

Parameters for Speech Synthesis component

  • Key: ROIS-14
  • Legacy Issue Number: 16929
  • Status: closed  
  • Source: JARA ( Miki Sato)
  • Summary:

    In Table 7.44 “speech synthesis”, data type of the argument and result parameter of “character” should be “RoIS_Identifier”.

  • Reported: RoIS 1.0b1 — Tue, 10 Jan 2012 05:00 GMT
  • Disposition: Resolved — RoIS 1.0
  • Disposition Summary:

    "Character" in this context indicates male, female, adult, child, etc. and the available character types depend on a speech synthesis component. To distinguish and designate a character type in Command Message (set_parameter) and Query Message (get_parameter), it is better to use identifiers assigned to each character types than strings.

  • Updated: Fri, 6 Mar 2015 20:58 GMT

Wrong Expression

  • Key: ROIS-17
  • Legacy Issue Number: 16932
  • Status: closed  
  • Source: JARA ( Miki Sato)
  • Summary:

    P.23 line 3, “each type of error” should be corrected to “each error”.

  • Reported: RoIS 1.0b1 — Mon, 12 Dec 2011 05:00 GMT
  • Disposition: Resolved — RoIS 1.0
  • Disposition Summary:

    This is a grammatical error so it should be corrected.
    Revised Text:
    In 7.4.1.1.2 System Error Notification, “each type of error” should be replaced with “each error”.

  • Updated: Fri, 6 Mar 2015 20:58 GMT

Notification of Profile change

  • Key: ROIS-16
  • Legacy Issue Number: 16931
  • Status: closed  
  • Source: JARA ( Miki Sato)
  • Summary:

    It is required to consider methods about notification when the engine or component profile changed.
    "receive_error" method is usable for this purpose.
    “PROFILE_CHANGED( tentative name )” should be added in the enumeration of "Error Type" (Table 7.7).
    However, this status is not an error, so "receive_error" and "Error Type" should be renamed

  • Reported: RoIS 1.0b1 — Mon, 12 Dec 2011 05:00 GMT
  • Disposition: Resolved — RoIS 1.0
  • Disposition Summary:

    Disposition: See issue 17139 for disposition

  • Updated: Fri, 6 Mar 2015 20:58 GMT

Complex definition of "Command Unit List"

  • Key: ROIS-21
  • Legacy Issue Number: 17137
  • Status: closed  
  • Source: JARA ( Mr. Koji Kamei)
  • Summary:

    Implementing "Command Unit List" is very difficult. It should be simplified

  • Reported: RoIS 1.0b1 — Mon, 20 Feb 2012 05:00 GMT
  • Disposition: Resolved — RoIS 1.0
  • Disposition Summary:

    Difficulty of the originally proposed Command Unit List resides in its structure which allows hierarchical parallel command sequences (i.e. parallel command sequences in a parallel command sequence). To simplify the structure, modify it as follows:
    1. Rename CommandUnitList to CommandUnitSequence.
    2. Make CommandUnit class abstract then derive both CommandMessage and ConcurrentCommands from it.
    3. A ConcurrentCommands should hold Branches instead of CommandUnits, then each Branch should hold a sequence of CommandMessages instead of CommandUnit.
    By this change, CommandUnitSequence can hold a sequence of CommandUnit and the units are executed sequentially in their order. Some unit in the sequence can be a ConcurrentCommands-class object which holds Branch-class objects and each Branch is executed in parallel. This resolution prohibits a hierarchical parallel command sequence because the Branch-class object cannot hold any ConcurrentCommands objects.

  • Updated: Fri, 6 Mar 2015 20:58 GMT

General System Message Class should be defined

  • Key: ROIS-22
  • Legacy Issue Number: 17139
  • Status: closed  
  • Source: JARA ( Mr. Koji Kamei)
  • Summary:

    The structure of message-related classes should be organized
    concerning issues #16560, #16923 and #16931.

  • Reported: RoIS 1.0b1 — Mon, 20 Feb 2012 05:00 GMT
  • Disposition: Resolved — RoIS 1.0
  • Disposition Summary:

    Merged with #16931.
    Rename the methods receive_event () and receive_error () to notify_event() and notify_exception() respectively.
    Following topics are discussed and decided not to change in this revision. Discussion should be deferred to the next revision.
    • A base class for all Messages can be defined.
    • In PIM, for types of messages should be separated.
    • In Table 7.7, rename the “Error Type” to “RoIS Exception Type.”

  • Updated: Fri, 6 Mar 2015 20:58 GMT

Condition for identifying message

  • Key: ROIS-18
  • Legacy Issue Number: 16933
  • Status: closed  
  • Source: JARA ( Miki Sato)
  • Summary:

    Condition of ”get_error_detail (Table 7.2),” “get_command_result (Table 7.3),” and “get_event_detail (Table 7.5)” can be omitted because these method can identify their message by message_id (such as command_id, event_id and error_id).

  • Reported: RoIS 1.0b1 — Mon, 12 Dec 2011 05:00 GMT
  • Disposition: Resolved — RoIS 1.0
  • Disposition Summary:

    No Data Available

  • Updated: Fri, 6 Mar 2015 20:58 GMT

Order of HRI Engine and Service Application should be changed

  • Key: ROIS-6
  • Legacy Issue Number: 16894
  • Status: closed  
  • Source: KAR ( Dr. Su Young Chi)
  • Summary:

    In Section 4, Order of HRI Engine and Service Application should be changed

  • Reported: RoIS 1.0b1 — Mon, 12 Dec 2011 05:00 GMT
  • Disposition: Resolved — RoIS 1.0
  • Disposition Summary:

    All the entries in Terms and Definitions table are arranged alphabetically for simplicity (i.e. not to concern about forward/backward references).

  • Updated: Fri, 6 Mar 2015 20:58 GMT

Definition of HRI Engine is ambiguous

  • Key: ROIS-5
  • Legacy Issue Number: 16893
  • Status: closed  
  • Source: KAR ( Dr. Su Young Chi)
  • Summary:

    In Section 4, definition of HRI Engine is ambiguous

  • Reported: RoIS 1.0b1 — Mon, 12 Dec 2011 05:00 GMT
  • Disposition: Resolved — RoIS 1.0
  • Disposition Summary:

    No Data Available

  • Updated: Fri, 6 Mar 2015 20:58 GMT

Parameter definitions for Error Message

  • Key: ROIS-8
  • Legacy Issue Number: 16923
  • Status: closed  
  • Source: JARA ( Miki Sato)
  • Summary:

    In 7.4.3 “Message Data”, there is no definition of “Error Message” for “get_error_detail” method, and there is no profile for the result parameters for this message in 7.5.2 7.5.3.

  • Reported: RoIS 1.0b1 — Mon, 12 Dec 2011 05:00 GMT
  • Disposition: Resolved — RoIS 1.0
  • Disposition Summary:

    Resolution for issue #16560 is merged with this issue.
    Add definition of “Error Message” as section 7.4.3.6 and table 7.24.
    Add definition of “Error Detail Message” as section 7.4.3.7 and table 7.25.
    Remove definition of “Event Message Profile” in section 7.5.3 because “Event Message” has no extensible element so it does not require any profile definition.
    Add definition of “Command Result Message Profile”, “Event Detail Message Profile” and “Error Detail Message Profile” in section 7.5.3 as table 7.28, 7.31 and 7.32, respectively.
    Add both message profile classes to Figure 16.

  • Updated: Fri, 6 Mar 2015 20:58 GMT

Relationship with RTC and ROS

  • Key: ROIS-7
  • Legacy Issue Number: 16895
  • Status: closed  
  • Source: JARA ( Miki Sato)
  • Summary:

    Relationship with ROS, RTC should be clarified

  • Reported: RoIS 1.0b1 — Mon, 12 Dec 2011 05:00 GMT
  • Disposition: Resolved — RoIS 1.0
  • Disposition Summary:

    Add description in Overview section.

  • Updated: Fri, 6 Mar 2015 20:58 GMT

Occurrence of sub component for Component Profile

  • Key: ROIS-9
  • Legacy Issue Number: 16924
  • Status: closed  
  • Source: JARA ( Miki Sato)
  • Summary:

    In Table 7.29 “Component Profile”, occurrence of sub_component is N to avoid double definition. For example, if the each sub component include “RoIS_Common”, the main component may include the two same common messages defined in RoIS_Common.
    Therefore, the occurence should be "1".

  • Reported: RoIS 1.0b1 — Mon, 12 Dec 2011 05:00 GMT
  • Disposition: Resolved — RoIS 1.0
  • Disposition Summary:

    The occurrence of sub_component in HRI Component Profile should be changed as 1.

  • Updated: Fri, 6 Mar 2015 20:58 GMT

Command Result Message definitions (rois-ftf)

  • Key: ROIS-4
  • Legacy Issue Number: 16560
  • Status: closed  
  • Source: JARA ( Miki Sato)
  • Summary:

    In 7.5.2 there is no profile for the result parameters related with 7.4.3.2

  • Reported: RoIS 1.0b1 — Tue, 20 Sep 2011 04:00 GMT
  • Disposition: Resolved — RoIS 1.0
  • Disposition Summary:

    Disposition: See issue #16923 for disposition

  • Updated: Fri, 6 Mar 2015 20:58 GMT

Schematic diagram of RoIS Framework (Figure 5, in Section 7.2) requires an update

  • Key: ROIS-27
  • Legacy Issue Number: 17145
  • Status: closed  
  • Source: AIST ( Dr. Toshio Hori)
  • Summary:

    Interfaces between the Service Application and HRI Engine had been
    changed when we submitted the revised submission but the diagram had not
    updated upon submission.


    I also found TYPOs and grammatical mistakes so I correct them when I
    submit the FTF report.

  • Reported: RoIS 1.0b1 — Mon, 20 Feb 2012 05:00 GMT
  • Disposition: Resolved — RoIS 1.0
  • Disposition Summary:

    Update the diagram to conform to the latest interface structure

  • Updated: Fri, 6 Mar 2015 20:58 GMT

Copyright holders should be modified

  • Key: ROIS-25
  • Legacy Issue Number: 17142
  • Status: closed  
  • Source: JARA ( Mr. Koji Kamei)
  • Summary:

    ATR and AIST should be removed from copyright holders.

  • Reported: RoIS 1.0b1 — Mon, 20 Feb 2012 05:00 GMT
  • Disposition: Resolved — RoIS 1.0
  • Disposition Summary:

    These organizations were added by misunderstanding. So I propose removing them.

  • Updated: Fri, 6 Mar 2015 20:58 GMT

Two types of parameters to be distinguished

  • Key: ROIS-26
  • Legacy Issue Number: 17143
  • Status: closed  
  • Source: JARA ( Mr. Koji Kamei)
  • Summary:

    There are two types of parameters to be distinguished.
    For example, "language" and "character" in speech synthesis are stable ones,
    but on the other hand, "speech_text" and "volume" are instant ones.
    Engine or Component should re-transmit or interpret them correctly.

  • Reported: RoIS 1.0b1 — Mon, 20 Feb 2012 05:00 GMT
  • Disposition: Resolved — RoIS 1.0
  • Disposition Summary:

    No Data Available

  • Updated: Fri, 6 Mar 2015 20:58 GMT