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 (interactive_cleanup/InteractiveClanupMsg).

[interactive_cleanup/InteractiveCleanupMsg]
string message
string detail

No	Topic Name	Direction	Message Type	Description
1	/interactive_cleanup/message/to_robot	SIGVerse ⇒	interactive_cleanup/InteractiveCleanupMsg	Event messagefrom Robotto Avatar
2	/interactive_cleanup/message/to_moderator	ROS ⇒	interactive_cleanup/InteractiveCleanupMsg	Event messagefrom Avatarto 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 Point_it_again	Robot ⇒	Point_it_again	(blank)
7	Send Yes or No	Avatar ⇒	Yes / No	(blank)
8	Send Object_grasped	Robot ⇒	Object_grasped	(blank)
9	Failed Object_grasped	Avatar ⇒	Task_failed	Object_grasped
10	Send Task_finished	Robot ⇒	Task_finished	(blank)
11	Failed Task_finished	Avatar ⇒	Task_failed	Task_finished
12	Succeeded the task	Avatar ⇒	Task_succeeded	(blank)
12	All tasks finished	Avatar ⇒	Mission_complete	(blank)
13	Send Give_up	Robot ⇒	Give_up	(blank)
14	Give up	Avatar ⇒	Task_failed	Give_up
15	Time is up	Avatar ⇒	Task_failed	Time_is_up

Note: Avatar ⇒: Human avatar to Robot, Robot ⇒: Robot to Human avatar