.. _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