RosMessage - PartnerRobotChallengeVirtual/handyman-ros GitHub Wiki
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 | 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 Environment info | Avatar ⇒ | Environment | Environment name (e.g.: Environment_01) or "unknown" |
| 3 | Send I_am_ready | Robot ⇒ | I_am_ready | (blank) |
| 4 | Send a task message | Avatar ⇒ | Instruction | task message(e.g.: Go to the XXXX, grasp the YYYY and bring it here.) |
| 5 | Send Room_reached | Robot ⇒ | Room_reached | (blank) |
| 6 | Failed Room_reached | Avatar ⇒ | Task_failed | Room_reached |
| 7 | Send Does_not_exist | Robot ⇒ | Does_not_exist | (blank) |
| 8 | Failed Does_not_exist | Avatar ⇒ | Task_failed | The target exist |
| 9 | Send a corrected task message | Avatar ⇒ | Corrected_instruction | task message(e.g.: Go to the XXXX, grasp the ZZZZ and bring it here.) |
| 10 | Send Object_grasped | Robot ⇒ | Object_grasped | (blank) |
| 11 | Failed Object_grasped | Avatar ⇒ | Task_failed | Object_grasped |
| 12 | Failed Object_grasped (the robot sent the message when the target doesn't exist) |
Avatar ⇒ | Task_failed | The target doesn't exist |
| 13 | Send Task_finished | Robot ⇒ | Task_finished | (blank) |
| 14 | Failed Task_finished | Avatar ⇒ | Task_failed | Task_finished |
| 15 | Succeeded the task | Avatar ⇒ | Task_succeeded | (blank) |
| 16 | All tasks finished | Avatar ⇒ | Mission_complete | (blank) |
| 17 | Send Give_up | Robot ⇒ | Give_up | (blank) |
| 18 | Give up | Avatar ⇒ | Task_failed | Give_up |
| 19 | Time is up | Avatar ⇒ | Task_failed | Time_is_up |
Note: Avatar ⇒: Human avatar to Robot, Robot ⇒: Robot to Human avatar