RobotInfo
This is a ROS message definition.
Source
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## Presents dynamic parameters of a robot
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std_msgs/Header header # the creation time
string robot_name # the name of the robot (used in preconditions and topics)
geometry_msgs/PoseWithCovariance pose # the robots current pose within the frame related to the msgs header
int32 shape # the shape of the robots (see enums)
float32[] shape_variables # shape variables to define width height, ...
RoutePrecondition sync # the current position in the last received plan (-1 means none)
int32 mode # the mode of operation
int32 status # the status of the robot
int32 good_id # the good id attached to the robot
int32 order_id # the order id scheduled to this robot (-1: none)
int32 order_status # the status of the assigned order
# mode
int32 MODE_NA = 0 # undefined mode
int32 MODE_IDLE = 1 # robot is idle
int32 MODE_SEGMENT_FOLLOWING = 2 # robot is in mode segment following
int32 MODE_PICKUP = 3 # robot is picking up goods
# status
int32 STATUS_DRIVING = 0 # robot is driving
int32 STATUS_STOPPED = 1 # robot has stopped
int32 STATUS_DONE = 2 # robot has finished its last job
int32 STATUS_BROKEN = 3 # robot is broken and not ready for any task
# good_id
int32 GOOD_EMPTY = -1 # no goods attached
int32 GOOD_NA = -2 # undefined good
# shape
int32 SHAPE_CIRCLE = 0 # robot is in shape of a circle ShapeVars
# order_status
int32 ORDER_NONE = 0 # no order assigned
int32 ORDER_APPROACH = 1 # the robot approaches the first station of the order
int32 ORDER_PICKUP = 2 # the robot picks up a good at the station
int32 ORDER_TRANSPORT = 3 # the robot currently transports a good from one station to another
int32 ORDER_DROP = 4 # the robot drops a good at the last station of its order, finishing the order