bwi_msgs

Summary

bwi_msgs
Version:

0.3.7
Description:

Contails messages used in the utexas-bwi codebase.
Maintainers:
  • Piyush Khandelwal <piyushk AT gmail DOT com>
  • Jack O’Quin <jack DOT oquin AT gmail DOT com>
Licenses:
  • BSD
Urls:
Authors:
  • Piyush Khandelwal <piyushk AT gmail DOT com>
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:
Exports:
  • <architecture_independent/>

Types

Message types

bwi_msgs/StopBaseStatus
Field:
  • status (uint8) –
Constant:
  • RUNNING (uint8):0 –
  • PAUSED (uint8):1 –
  • STOPPED (uint8):2 –

## Stop base controller status.

### Stop base controller status.

uint8 status

# Constants defining the possible states:
uint8 RUNNING = 0       # robot base running normally
uint8 PAUSED =  1       # robot base motion paused
uint8 STOPPED = 2       # terminal state: no more movement allowed
bwi_msgs/AvailableRobot
Constant:
  • SEGBOT (int32):1 –
  • SEGBOT_ARM (int32):2 –
  • TURTLEBOT (int32):3 –
Field:
  • name (string) –
  • type (int32) –

The current list of robots supported in the BWI Ecosystem. In an ideal world, this functionality would be replaced by the capabilities framework.

# The current list of robots supported in the BWI Ecosystem. In an ideal world, this functionality would be replaced
# by the capabilities framework.

int32 SEGBOT = 1
int32 SEGBOT_ARM = 2
int32 TURTLEBOT = 3

string name
int32 type
bwi_msgs/AvailableRobotArray
Field: 
AvailableRobot[] robots

Service types

bwi_msgs/SemanticParser
Constant (Request):
 
  • QUESTION_ASKING (int32):0 –
  • TRAINING (int32):1 –
  • STARTOVER (int32):2 –
  • GETID (int32):3 –
Field (Request):
 
  • type (int32) –
  • input_text (string) –
Field (Response):
 
  • output_text (string) –
  • query (string) –

Constants defining type

# Constants defining type
int32 QUESTION_ASKING = 0
int32 TRAINING = 1
int32 STARTOVER = 2
int32 GETID = 3

int32 type
string input_text
---
string output_text
string query
bwi_msgs/DoorHandlerInterface
Field (Request):
 
  • door (string) –
  • open (bool) –
  • all_doors (bool) –
Field (Response):
 
  • success (bool) –
  • status (string) – 
string door
bool open
bool all_doors
---
bool success
string status
bwi_msgs/QuestionDialog
Constant (Request):
 
  • DISPLAY (int32):0 –
  • CHOICE_QUESTION (int32):1 –
  • TEXT_QUESTION (int32):2 –
  • NO_TIMEOUT (float32):0.0 –
  • NO_RESPONSE (int32):-1 –
  • TIMED_OUT (int32):-2 –
  • TEXT_RESPONSE (int32):-3 –
  • PREEMPTED (int32):-4 –
Field (Request):
 
  • type (int32) –
  • message (string) –
  • options[] (string) –
  • timeout (float32) –
Field (Response):
 
  • index (int32) –
  • text (string) –

Constants defining question type

# Constants defining question type
int32 DISPLAY = 0
int32 CHOICE_QUESTION = 1
int32 TEXT_QUESTION = 2

# Constants regarding timeout
float32 NO_TIMEOUT=0.0

# Constants for response index
int32 NO_RESPONSE=-1
int32 TIMED_OUT=-2
int32 TEXT_RESPONSE=-3
int32 PREEMPTED=-4

int32 type
string message
string[] options # used in choice questions
float32 timeout

---
int32 index
string text
bwi_msgs/StopBase
Field (Request):
 
Field (Response):
 

## Stop base controller service call

Since there can be multiple requesters, the current status returned in the response message may not immediately match the original request.

If more than one requester sets a PAUSED status, the robot base will remain motionless until they all request RUNNING again. If any requester sets STOPPED, no further requests will be met, the status remaining permantently STOPPED.

The requester name should be sufficiently unique to avoid multiple requesters picking the same string. A reasonable choice is the ROS node name.

### Stop base controller service call
#
#   Since there can be multiple requesters, the current status
#   returned in the response message may not immediately match the
#   original request.
#
#   If more than one requester sets a PAUSED status, the robot base
#   will remain motionless until they all request RUNNING again.  If
#   any requester sets STOPPED, no further requests will be met, the
#   status remaining permantently STOPPED.
#
#   The requester name should be sufficiently unique to avoid multiple
#   requesters picking the same string.  A reasonable choice is the
#   ROS node name.

StopBaseStatus status   # new status requested
string requester        # self-assigned requester name
---
StopBaseStatus status   # current status after request handled

Action types

bwi_msgs/LogicalNavigation
Field (Goal):
Field (Result): 
bwi_planning_common/PlannerAtom command
---
bool success
string status
bwi_planning_common/PlannerAtom[] observations
---