A plugin that orchestrates an ARIAC task. First of all, it loads a description of the goals. Here's an example: More...

#include <ROSAriacTaskManagerPlugin.hh>

Inheritance diagram for gazebo::ROSAriacTaskManagerPlugin:

Public Member Functions
bool	HandleStartService (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
	Callback received when the team requests the competition start. More...

bool	HandleSubmitTrayService (osrf_gear::SubmitTray::Request &req, osrf_gear::SubmitTray::Response &res)
	Callback for when a tray is submitted for inspection. More...

virtual void	Load (physics::WorldPtr _world, sdf::ElementPtr _sdf)

	ROSAriacTaskManagerPlugin ()
	Constructor. More...

virtual	~ROSAriacTaskManagerPlugin ()
	Destructor. More...

Protected Member Functions
void	AssignGoal (const ariac::Goal &goal)
	Assign a goal to be monitored by the scorer. More...

void	ControlConveyorBelt (double velocity)
	Set the velocity of the conveyor belt. More...

void	OnUpdate ()
	Update the plugin. More...

void	PopulateConveyorBelt ()
	Start populating the conveyor belt. More...

void	ProcessGoalsToAnnounce ()
	Decide whether to announce a new goal. More...

void	StopCurrentGoal ()
	Stop scoring the current goal and assign the next goal on stack. More...

Private Attributes
std::unique_ptr< ROSAriacTaskManagerPluginPrivate >	dataPtr
	Private data pointer. More...

Detailed Description

A plugin that orchestrates an ARIAC task. First of all, it loads a description of the goals. Here's an example:

<kit> <object> <type>coke_can</type> <pose>-1 2.5 0.2 0 0 0</pose> </object> <object> <type>cordless_drill/</type> <pose>-1 2.5 0.2 0 0 0</pose> </object> <object> <type>beer</type> <pose>-1 2.5 0.2 0 0 0</pose> </object> </kit>

<kit> <object> <type>coke_can</type> <pose>-1 2.5 0.2 0 0 0</pose> </object> <object> <type>cordless_drill/</type> <pose>-1 2.5 0.2 0 0 0</pose> </object> <object> <type>beer</type> <pose>-1 2.5 0.2 0 0 0</pose> </object> </kit> </goal>

A task can have multiple goals. Each goal has a time element. At that point in simulation time, the goal will be notified to the team. A goal is composed by a positive number of kits. A kit is composed by a positive number of objects. An object contains a type (e.g.: coke_can) and a pose. The pose is the target pose where the object should be placed on a destination tray.

After loading the goals, the plugin will use a simple finite state machine to handle the different tasks to do.

The initial state is called "init" and there's not much to do when the plugin is in this state. The state of the Gazebo task manager is periodically published on a ROS topic "gazebo_task/state". This topic can be changed using the SDF element <gazebo_task_state_topic>. The plugin is waiting for a ROS message on topic "team_task/state". This topic shows the state of the team performing the task. When the value of a message received is "ready", the plugin will transition its internal state towards "ready" too.

The "ready" state is considered simulation time zero for notifying the goals to the teams. A <time>1.0</time> inside a <goal> element will be notified 1 second after entering in the "ready" state. The goal will be published using a ROS topic on the topic ${robot_namespace}/goal or ${robot_namespace}/${goals_topic} if the parameter <goals_topic> is passed in to the plugin. Also, when the plugin is in this state, it will use the conveyor activation topic to communicate with the Population plugin and enable the population of the conveyor belt. The element <conveyor_activation_topic> should match the topic used in the <activation_topic> of the Population plugin. After enabling the conveyor belt, the state changes to "go".

In "go" state, the plugin will be updating the function that processes the goals. This is essentially checking if it's time to announce a new goal. ToDo: Check if the team has completed all the goals or the maximum time limit has been reached. In that case, move to "finish" state.

In "finish" state there's nothing to do.

Definition at line 109 of file ROSAriacTaskManagerPlugin.hh.