| .. _mir_actions: | |
| Actions | |
| ======= | |
| A bunch of action servers for performing basic robocup actions. | |
| The robocup @work domain is partitioned into 6 basic actions | |
| - move base | |
| - pick | |
| - perceive | |
| - place | |
| - stage | |
| - unstage | |
| Each action is implemented as SMACH state machines which are wrapped with | |
| ``ActionServer``. An ``ActionClient`` needs to send request using | |
| ``GenericExecuteGoal``. | |
| This request message contains a single dictionary kind of | |
| message called ``parameters`` of type ``diagnostic_msgs/KeyValue[]``. | |
| .. literalinclude:: ../../../mir_planning/mir_planning_msgs/ros/action/GenericExecute.action | |
| Each server needs different information from this request message. Please see | |
| the following files for detailed info: | |
| .. toctree:: | |
| :maxdepth: 1 | |
| actions/move_base_safe.rst | |
| actions/perceive_location.rst | |
| actions/perceive_cavity.rst | |
| actions/perceive_mock.rst | |
| actions/pick_object.rst | |
| actions/place_object.rst | |
| actions/stage_object.rst | |
| actions/unstage_object.rst | |
| actions/insert_object.rst | |
| actions/insert_cavity.rst | |
| Additionally, :ref:`mir_planner_executor` also sends ``next_action`` as one of the | |
| parameter. This can be used by action servers to have parallel execution of arm | |
| while the base is in motion to save som time. At the moment, only | |
| :ref:`mir_move_base_safe` is using this information. | |
| This package also contains ``Utils.py`` which contains utility functions for | |
| action servers. | |
| Usage | |
| ----- | |
| .. code-block:: bash | |
| roscore | |
| roslaunch mir_actions run_action_servers.launch | |
| To execute an action, call the corresponding action client with appropriate | |
| arguments. For example, move base safe:: | |
| rosrun mir_move_base_safe move_base_safe_client_test.py WS01 | |