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nextLocPlanner

Module which loads locally the locations of a map to retrieve the next robot target location to inspect.

The module opens a Navigation client which gives access to the necessary methods. An RPC port is also opened (default name: /nextLocPlanner/request/rpc)

Usage:

Possible RPC commands:

  • next : returns the next unchecked location or noLocation
  • set <locationName> <status> : sets the status of a location to unchecked, checking or checked
  • set all <status> : sets the status of all locations
  • find <locationName> : checks if a location is in the list of the available ones
  • remove <locationName> : removes the defined location by any list
  • add <locationName> : adds a previously defined location in the unchecked list
  • add <locationName> <x,y,th coordinates> : adds a new location in the unchecked list
  • list : lists all the locations and their status
  • list2 : lists all the locations divided by their status
  • close : closes the nextLocationPlanner module
  • help : gets this list

Each location can have one of the following statuses: unchecked,checking, checked . When the module is created, each location status is 'unchecked'. When the next command is called, the first 'unchecked' location is returned to the asker, and its status is set to 'checking'. If a location has been already set to 'checking' when the next command is called, that location is set to 'unchecked' and the next 'unchecked' location is returned. It is supposed that a navigation orchestrator would set the location status to 'checked' after performing some task. This is possible with the command set <locationName> checked.