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.. _mir_refbox_parser:
Refbox parser
=============
This node contains components to store the world model of the environment and \
the goal of the tasks in the knowledge base of the robot.
World model is defined as the locations and properties of different moveable
objects(eg: robot, box etc) in the environment.
The world model node has to subscribe to the incoming data stream which informs
of the current state of the world.(Eg : Refree box)
It then has to store this value in the any format which can be utilized for
other components.
.. image:: ../../../mir_planning/mir_refbox_parser/ros/doc/node.png
Requirements
------------
.. code-block:: bash
sudo apt-get install flex ros-indigo-mongodb-store ros-indigo-tf2-bullet freeglut3-dev
- `Rosplan <https://github.com/KCL-Planning/ROSPlan>`_
The following folders are not required they can be avoided by ``$> touch CATKIN_IGNORE``
inside the respective directories
- rosplan_demos
- rosplan_interface_mapping
- rosplan_interface_movebase
Usage
-----
#. Launch the component (example):
.. code-block:: bash
roslaunch mir_refbox_parser refbox_parser.launch
Testing
-------
#. We need the Knowledge base service running to test the loading of knowledge
base
.. code-block:: bash
roslaunch mir_pddl_problem_generator rosplan_knowledge_base_example.launch
Before running the test the file has to be copied to the
``mir_pddl_problem_generator/ros/test/example_domain`` folder.
#. For testing navigation we need the navigation action server
.. code-block:: bash
roslaunch mir_move_base_safe move_base.launch
Input(s)
^^^^^^^^
* ``event_in``: trigger to start the node.
* ``refbox``: the ros topic string format on which the BTT, BNT, BPT, BMT, CBT messages is being published
Output(s)
^^^^^^^^^
* ``e_status``: Returns if the data storage ws successful
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