Scripts

StateMachine Module

ROS node for implementing a finite state machine FSM.

Client:

/Battery_Switch to active the ROOM_E state

/Movement_Switch to active the RANDOM_MOVEMENT state

/Mapping_Switch to active the TOPOLOGICAL_MAP state

Service:

/B_Switch to communicate the need for recharging the battery

script.StateMachine.Battery_State(req)[source]

Service callback.

Parameters

req (bool) – notifies that the battery is low

Returns

indicates successful run of triggered service

Return type

res (bool)

class script.StateMachine.CHOOSE_DESTINATION[source]

Bases: smach.state.State

Class implementing FSM sub state concerning the choice of location in which the robot is to move.

execute(userdata)[source]

Function that executes the status of the FSM by executing a function to decide in which location the robot should move according to urgency.

Returns

Transition of the FSM to be carried out

  • b_low: if the robot needs to be recharged

  • destination: when the location in which the robot is to move is chosen

script.StateMachine.ChangeState(State)[source]

Function for communicating which node to execute based on the status of the FSM.

Parameters

State (int) –

current status of the FSM

  1. TOPOLOGICAL_MAP

  2. RANDOM_MOVEMENT

  3. ROOM_E

class script.StateMachine.RANDOM_MOVEMENT[source]

Bases: smach.state.State

Class implementing FSM sub state concerning the random movement.

execute(userdata)[source]

Function that executes the status of the FSM by calling the service related to the moving situation.

Returns

Transition of the FSM to be carried out

  • b_low: if the robot needs to be recharged

  • move: if the robot can move between the rooms

class script.StateMachine.ROOM_E[source]

Bases: smach.state.State

Class implementing FSM state concerning the room E.

execute(userdata)[source]

Function that executes the status of the FSM by calling the service related to the recharging situation.

Returns

Transition of the FSM to be carried out

  • b_low: if the robot needs to be recharged

  • move: if the robot can move between the rooms

class script.StateMachine.TOPOLOGICAL_MAP[source]

Bases: smach.state.State

Class implementing FSM state concerning the topological map.

execute(userdata)[source]

Function that executes the status of the FSM by calling the service related to the mapping situation.

Returns

Transition of the FSM to be carried out

  • b_low: if the robot needs to be recharged

  • map_OK: when map construction ends

script.StateMachine.main()[source]

This function initializes the ROS node, clients and service and waits for the creation and execution of the FSM.

TopologicalMap Module

ROS node for implementing the TOPOLOGICAL_MAP state of the finite state machine FSM

Client:

ArmorClient

Service:

/Mapping_Switch to active the TOPOLOGICAL_MAP state

script.TopologicalMap.LoadMap()[source]

Function to load the topological map using the aRMOR client.

script.TopologicalMap.Mapping_Switch(req)[source]

Service callback

Parameters

req (bool) – for enabling/disabling the service related to mappig simulation

Returns

indicates successful run of triggered service

res.message (string): informational

Return type

res.success (bool)

script.TopologicalMap.main()[source]

This function initializes the ROS node and service.

When the service /Mapping_Switch is called, map loading is simulated.

RandomMovement Module

ROS node for implementing the RANDOM_MOVEMENT state of the finite state machine FSM

Client:

ArmorClient

MoveBaseAction

Service:

/Mapping_Switch to active the RANDOM_MOVEMENT state

MoveBaseGoal

script.RandomMovement.MoveBaseA()[source]

Function to provide an implementation of an action which, given a position goal, will attempt to reach it.

If the position is not reached within a certain time (3.0 seconds) or if the signal of battery low is sent, the goal is cancelled.

script.RandomMovement.Movement_Switch(req)[source]

Service callback.

Parameters

req (bool) – for enabling/disabling the service related to moving simulation

Returns

indicates successful run of triggered service

res.message (string): informational

Return type

res.success (bool)

script.RandomMovement.main()[source]

This function initializes the ROS node and service.

When the service /Mapping_Switch is called, random movement is simulated.

Battery Module

ROS node for implementing the ROOM_E state of the finite state machine FSM

Client:

/B_Switch to communicate the need for recharging the battery

ArmorClient

Service:

/Recharging_Switch to active the ROOM_E state

script.Battery.Battery_Switch(req)[source]

Service callback.

Parameters

req (bool) – for enabling/disabling the service related to battery charging simulation

Returns

indicates successful run of triggered service

res.message (string): informational

Return type

res.success (bool)

script.Battery.main()[source]

This function initializes the ROS node, client and service.

A message is sent to the service /B_switch every random seconds to notify the need for recharging.

When the service /Recharging_Switch is called, battery charging is simulated.