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.. _mir_planner_executor:
Planner executor
================
``planner_executor`` is the main executable which is executed when ``planner_executor.launch`` is launched.
It creates a bunch of ``BaseExecutorAction`` objects.
When a execute plan goal is received, it call individual action's ``execute``
function.
Most of the time, this ``execute`` function will change the names of the
parameters obtained from planner to something that makes sense. After that, it
will call ``run`` function which
- creates a goal of the action server
- sends this goal to action server
- wait for the server to respond within certain time duration
- if the server responds with success, it will return ``true`` otherwise ``false``
Some actions are ``Combined``, which means, it has most of the things in common
at planning and execution level but has different server (for example,
*perceive location* and *perceive cavity*). This will have a check on one of
the parameters. Based on this check either one of the server will be called as
described above.
Usage
-----
Normal use
^^^^^^^^^^
.. code-block:: bash
roslaunch mir_planner_executor planner_executor.launch
Testing
^^^^^^^
.. code-block:: bash
roslaunch mir_planner_executor planner_executor.launch
roslaunch mir_planner_executor planner_executor_test.launch
OOP Structure
-------------
.. code-block:: html
BaseExecutorAction
|
'- ExecutorAction
| |
| '- MoveAction
| |
| '- PickAction
| |
| '- PlaceAction
| |
| '- StageAction
| |
| '- UnstageAction
| |
| '- BasePerceiveAction
| | |
| | '- PerceiveAction
| | |
| | '- PerceiveCavityAction
| |
| '- BaseInsertAction
| |
| '- InsertAction
| |
| '- InsertCavityAction
|
'- CombinedPerceiveAction
|
'- CombinedInsertAction
|