RosMessage

ROS Messages

Operate HSR

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

Communicate with Human Avatar

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	Topic Name	Direction	Message Type	Description
1	/handyman/message/ to_robot	SIGVerse->	handyman/ HandymanMsg	Event message from Robot to Avatar
2	/handyman/message/ to_moderator	ROS->	handyman/ HandymanMsg	Event message from Avatar to Robot

Note: SIGVerse->: SIGVerse to User's ROS Node, ROS->: User's ROS Node to SIGVerse

For details of event messages please see the following table.

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

Note: Avatar->: Human avatar to Robot, Robot->: Robot to Human avatar