131 lines
2.6 KiB
Plaintext
Executable File
131 lines
2.6 KiB
Plaintext
Executable File
#goal definition
|
|
#move type
|
|
int16 BASE_MOVE = 0
|
|
int16 GLOBAL_MOVE = 1
|
|
int16 RELATIVE_MOVE = 2
|
|
int16 RELATIVE_MARKER_MOVE = 3
|
|
int16 DOCKING_MOVE = 4
|
|
int16 DOCKING_GLOBAL_MOVE = 5
|
|
int16 PATH_TYPE = 6
|
|
int16 move_task
|
|
|
|
#shared parameters
|
|
geometry_msgs/PoseStamped target_pose
|
|
string target_guid
|
|
|
|
#global move parameters
|
|
float64 goal_dist_threshold
|
|
float64 goal_orientation_threshold
|
|
nav_msgs/Path path
|
|
float32 max_plan_time
|
|
bool clear_costmaps
|
|
bool pause_command
|
|
bool continue_command
|
|
|
|
#relative move parameters
|
|
float64 yaw
|
|
bool collision_detection
|
|
bool collision_avoidance
|
|
float64 disable_collision_check_dist
|
|
float64 max_linear_speed
|
|
float64 max_rotational_speed
|
|
float64 pid_dist_offset
|
|
float64 target_offset
|
|
bool only_collision_detection
|
|
float64 timeout
|
|
|
|
#docking move parameters
|
|
int32 pattern_type
|
|
int32 pattern_value
|
|
bool only_track
|
|
bool same_goal
|
|
string pose_frame
|
|
geometry_msgs/Pose2D pose
|
|
geometry_msgs/Pose2D offset
|
|
float64 bar_length
|
|
float64 bar_distance
|
|
float64 shelf_leg_asymmetry_x
|
|
float64 tolerance
|
|
|
|
#Path type
|
|
mir_msgs/MirLocalPlannerPathTypes path_type
|
|
geometry_msgs/PoseStamped start_pose
|
|
# float64 timeout
|
|
|
|
|
|
---
|
|
#result definition
|
|
|
|
#shared states
|
|
int16 UNDEFINED = 0
|
|
int16 GOAL_REACHED = 1
|
|
int16 FAILED = -1
|
|
|
|
#global move states
|
|
int16 MARKER_VISIBLE = 2
|
|
int16 FAILED_NO_PATH = -2
|
|
int16 FAILED_GOAL_IN_STATIC_OBSTACLE = -3
|
|
int16 FAILED_GOAL_IN_FORBIDDEN_AREA = -4
|
|
int16 FAILED_GOAL_IN_DYNAMIC_OBSTACLE = -5
|
|
int16 FAILED_ROBOT_IN_COLLISION = -6
|
|
int16 FAILED_ROBOT_IN_FORBIDDEN_AREA = -7
|
|
int16 FAILED_UNKNOWN_TRAILER = -8
|
|
int16 FAILED_TO_PASS_GLOBAL_PLAN = -9
|
|
int16 FAILED_NO_VALID_RECOVERY_CONTROL = -10
|
|
int16 FAILED_UNKNOWN_PLANNER_ERROR = -11
|
|
int16 FAILED_ROBOT_OSCILLATING = -12
|
|
int16 FAILED_SOFTWARE_ERROR = -13
|
|
|
|
#relative move states
|
|
int16 FAILED_TIMEOUT = -14
|
|
int16 FAILED_COLLISION = -15
|
|
int16 INVALID_GOAL = -16
|
|
|
|
#docking move states
|
|
int16 FAILED_MARKER_TRACKING_ERROR = -17
|
|
|
|
#shared results
|
|
int16 end_state
|
|
geometry_msgs/PoseStamped end_pose
|
|
|
|
#docking results
|
|
geometry_msgs/Pose2D pose
|
|
|
|
#feedback for UI
|
|
string message
|
|
|
|
---
|
|
#feedback
|
|
#shared
|
|
int8 NOT_READY = -1
|
|
int8 UNKNOWN = -2
|
|
int8 WAITING_FOR_FLEET = -3
|
|
int8 COLLISION = -4
|
|
|
|
#global move states
|
|
int8 PLANNING = 0
|
|
int8 CONTROLLING = 1
|
|
int8 CLEARING = 2
|
|
|
|
#relative move states
|
|
int8 DOCKING = 3
|
|
|
|
#shared feedback
|
|
int8 state
|
|
|
|
#global move feedback
|
|
geometry_msgs/PoseStamped base_position
|
|
|
|
#relative move feedback
|
|
geometry_msgs/PoseStamped current_goal
|
|
geometry_msgs/PoseStamped dist_to_goal
|
|
|
|
#docking move feedback
|
|
geometry_msgs/Pose2D pose
|
|
bool marker_inversion
|
|
|
|
#path_types
|
|
#reverse_trolly
|
|
int8 MOVING_FORWARD = 10
|
|
int8 MOVING_BACKWARD = 11
|