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RosMessage
Hiroki Yamada edited this page Jan 28, 2018
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26 revisions
Operate a robot by subscribing and publishing several ROS topics.
For details please see the following wiki.
https://github.com/PartnerRobotChallengeVirtual/common-unity/wiki/RosTopics
Sending and receiving of event messages between the human avatar and the robot is performed using original ROS messages (handyman/HandymanMsg).
[handyman/HandymanMsg]
string message
string detail
| No | Event | Direction | message | detail |
|---|---|---|---|---|
| 1 | Send Are_you_ready? | Avatar-> | Are_you_ready? | (blank) |
| 2 | Send I_am_ready | Robot-> | I_am_ready | (blank) |
| 3 | Send the task message | Avatar-> | Instruction | task message(e.g.: Go to the XXXX, grasp the YYYY and come back here.) |
| 4 | Send Room_reached | Robot-> | Room_reached | (blank) |
| 5 | Failed Room_reached | Avatar-> | Task_failed | Room_reached |
| 6 | Send Object_grasped | Robot-> | Object_grasped | (blank) |
| 7 | Failed Object_grasped | Avatar-> | Task_failed | Object_grasped |
| 8 | Send Task_finished | Robot-> | Task_finished | (blank) |
| 9 | Failed Task_finished | Avatar-> | Task_failed | Task_finished |
| 10 | Succeeded the task | Avatar-> | Task_succeeded | (blank) |
| 11 | All tasks finished | Avatar-> | Mission_complete | (blank) |
| 12 | Time is up | Avatar-> | Task_failed | Time_is_up |
| 13 | Click GiveUp button | Avatar-> | Task_failed | Give_up |