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RosMessage
Hiroki Yamada edited this page Jan 29, 2018
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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 (interactive_cleanup/InteractiveClanupMsg).
[interactive_cleanup/InteractiveCleanupMsg]
string message
string detail
| No | Topic Name | Direction | Message Type | Description |
|---|---|---|---|---|
| 1 | /interactive_clanup/ message/to_robot |
SIGVerse-> | interactive_cleanup/ InteractiveCleanupMsg |
Event message from Robot to Avatar |
| 2 | /interactive_clanup/ message/to_moderator |
ROS-> | interactive_cleanup/ InteractiveCleanupMsg |
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 Pick_it_up! | Avatar-> | Pick_it_up! | (blank) |
| 4 | Send Clean_up! | Avatar-> | Clean_up! | (blank) |
| 5 | Send Is_this_correct? | Robot-> | Is_this_correct? | (blank) |
| 6 | Send Yes or No | Avatar-> | Yes / No | (blank) |
| 7 | Send Task_finished | Robot-> | Task_finished | (blank) |
| 8 | Failed Task_finished | Avatar-> | Task_failed | Task_finished |
| 9 | Succeeded the task | Avatar-> | Task_succeeded | (blank) |
| 10 | All tasks finished | Avatar-> | Mission_complete | (blank) |
| 11 | Time is up | Avatar-> | Task_failed | Time_is_up |
| 12 | Click GiveUp button | Avatar-> | Task_failed | Give_up |
Note: Avatar->: Human avatar to Robot, Robot->: Robot to Human avatar