Abstracts - Pitt-RAS/iarc7_common GitHub Wiki

The iarc7_abstract package contains very high-level programs (or "abstracts") that define what the quad should do. The general idea is that these are very hardware-agnostic, they act like the drone is a single object that can execute high-level commands such as "go here" or "push this button."

Abstracts communicate with the high level motion planner using a python simple action client. The simple action client is a part of the actionlib library. Tutorials on using actionlib, including the Python version of the simple action client, can be found at http://wiki.ros.org/actionlib_tutorials.

On the IARC team we call high level motion actions 'tasks'. Tasks are created using the simple action client object. The types of actions that are available is under heavy development. See here for the source code for each tasks. Files with '_task.py' on the end are task files. Others are helper classes for interpreting sensor data.