Tms Ts Ts

0. OverView

@pkg: break requested task down into its constituent parts(SUBTASKs)

generate python script for task executing. Subtask will be operated in sequential or parallel through task executing machine "smach".(SMACH:smach)

:speech_balloon:tms_ts_master : Receive user requests and store them to the list, manage the execution of subtasks and notification of errors (state_control)

:speech_balloon:tms_ts_nodelet : Decompose a task to subtasks, execute SMACH scripts using parameters defined in user requests.

1. How to run

• Preparation

roscore
roslaunch tms_db_manager tms_db_manager.launch
rosrun tms_ss_vicon vicon_stream(+ vicon tracker)
cd ~/choreonoid && bin/choreonoid(+ push necessary buttons)
robots' driver
// In move,grasp, and give tasks,
// it is assumed that TMS_RC for SmartPal V waits for the return command of each operation 
// Note that smartpal5_2 has locally revised functions.

• Start TS and Smach Viewer

// run ts_master
rosrun tms_ts_ts ts_master
// run smach_viewer
rosrun smach_viewer smach_viewer.py

install smach_viewer

sudo apt-get install ros-indigo-smach-viewer

:star: fix a bug

rewrite the 480th row of the /opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py

return int(self.read_code()) -> return int(float(self.read_code()))

• Call service tms_msg_ts/ts_req.srv

rosservice call /tms_ts_master "{rostime: 0, task_id: 8001, robot_id: 2001, object_id: 7001, user_id: 1001, place_id: 5001, priority: 0}"

• About Id: See TMS_DB wiki

2. Result

In ~/catkin_ws/src/ros_tms/tms_ts/tms_ts_smach/scripts, there is new file "YYYYMMDD_HHMMSS.py"

:shooting_star: Example：2014/5/7 16:12:51　→ 201457_161251.py

3. Remarks

You can check a state machine with smach viewer.

rosrun smach_viewer smach_viewer.py

about smach_viewer