rosmc_interface_msgs
The is a ROS package for the high-level interfaces between ROSMC and robots' mission_executor.
This package provides
- ROS messages (in: msg)
- ROS services (in: srv)
- Python scripts to simulate a dummy mission server (in: scripts)
Interface Overview
Mission is defined as shown in this class diagram.
The following gives an overview of all important topics and services. They have the following format:
"interface description":
- "topic/service name" ("message/service-data-type")
The information flow direction is given by ('source' -> 'target').
Commands
High Level
Mission clients register themselves to mission server so that it can send new missions to them (robots -> ROSMC):
- /mission_control/register_to_mission_server (rosmc_interface_msgs/RegisterToServer.srv)
Mission server send new missions including missions updates to the clients (ROSMC -> robots):
- send_mission (rosmc_interface_msgs/Mission.srv)
Mission server also controls the mission execution (Start, Stop, Pause, Resume) of the clients (ROSMC -> robots):
- trigger_mission_executor (rosmc_interface_msgs/TriggerMissionExecution.srv)
Missions clients send the action status information to the server (robots -> ROSMC):
- /mission_control/update_action_status (rosmc_interface_msgs/UpdateActionStatus.srv)
Topics (robots -> ROSMC)
Status per robot:
- status (rosmc_interface_msgs/AgentStatus.msg)