ROS node to control the different missions conducted by the house bot Rodney. It also controls some of the simple jobs.

Once you have the node built you can run the rodney robot by launching the rodney.launch file.

Topics:

• missions/mission_request:
  Subscribes using MonitorState std_msgs/String A request to carry out a robot mission or simple job
• missions/mission_cancel:
  Subscribes std_msgs/String A request to cancel the current robot mission
• missions/acknowledge:
  Subscribes sts_msgs/Empty An acknowledgement by a user that the mission can move on
• speech/to_speak:
  Publishes speech/voice A message with either text containing the words to speak or wav containing the path of the wav file to play
• robot_face/text_out:
  Publishes std_msgs/String Text for the robot face to animate the lips to
• missions/mission_complete:
  Publishes std_msgs/String Message indicating that the current mission completed
• commands/lidar_enable:
  Publishes std_msgs/Bool Message indicating if the LIDAR should be enabled or not

Action Clients:

• head_control_node: To request movement of the head
• face_recognition: To request and obtain the result of a face recognition scan on an image from the camera
• move_base: To reuest that the base is navigated to a new location

Service Clients:

• stop_motor: To disable the LIDAR
• start_motor: To enable the LIDAR

Parameters:

• /servo/index0/pan/min: minimum range for the head pan servo. Default value = -(pi/2.0)
• /servo/index0/pan/max: Maximum range for the head pan servo. Default value = pi/2.0
• /servo/index0/tilt/min: Minimum range for the head tilt servo. Default value = -(pi/2.0)
• /servo/index0/tilt/max: Maximum range for the head tilt servo. Default value = pi/2.0
• /head/position/pan: The pan position that the head will move to when a task is complete (default positon). Default value = 0.0
• /head/position/tilt: The tilt position that the head will move to when a task is complete (default positon). Default value = 0.0
• ~head/view_step/pan: The increment that the pan servo will move for each scan. Default value = 0.436332
• ~head/view_step/tilt: The increment that the tile servo will move for each scan. Default value = 0.436332
• ~head/manual_view_step/pan: Pan step value to move the camera in manual mode. Default = 0.174533
• ~head/manual_view_step/tilt: Tilt step value to move the camera in manual mode. Default = 0.174533
• ~head/user_position/pan: Pan position that the head will move to for user input. Default value = 0.0
• ~head/user_position/tilt: Tilt position that the head will move to for user input. Default value = -0.5

State Machines:

The top level state machine contains the following states

• WAITING:
  Is a monitor state for the /missions/mission_request topic
• PREPARE:
  A state that examines a request and either actions a job or hands control to a mission sub state machine
• REPORT:
  A state that reports that a mission is complete
• DEFAULT_HEAD_POSITION:
  A SimpleActionState that returns the head/camera to the default position
• MOVE_HEAD:
  A SimpleActionState that request sthe head/camera be moved

• MISSION1:
  A sub state machine responsible for controlling mission 1, "take a message to.."
  • PREPARE_MISSION:
    A state that loads the given waypoint file
  • PREPARE_FOR_HEAD_MOVE:
    A state which sets up the next required position of the head/camera
  • MOVE_HEAD:
    A SimpleActionState that requests the head/camera be moved
  • SCAN_FOR_FACES:
    A SimpleActionState that requests the faces recognition operation be carried out on the current image from the camera
  • CHECK_FOR_SUBJECT:
    A state that checks subjects seen by the camera to the ID of the subject we are searching for. If the subject is seen the message is delivered
  • WAIT_FOR_USER:
    State that waits for the acknowledge message or timesout after 60 seconds
  • DEFAULT_HEAD_POISTION:
    A SimpleActionState that returns the head/camera to the default position
  • PREPARE_TO_MOVE:
    A state machine that constructs a nav goal for the MOVE state
  • MOVE:
    A SimpleActionState that moves the robot base to the given nav goal

• MISSION2:
  A sub state machine responsible for controlling mission 2, "greet who you recognise"
  • PREPARE_FOR_MOVEMENT_GRT:
    A state which sets up the next required position of the head/camera
  • MOVE_HEAD_GRT:
    A SimpleActionState that requests the head/camera be moved
  • SCAN_FOR_FACES:
    A SimpleActionState that requests the faces recognition operation be carried out on the current image from the camera
  • GREETING:
    A state responsible for forming the response to any faces recognised

• MISSION4: A sub state machine responsible for controlling mission 4, "go home"
  • PREPARE_MISSION:
    A state that loads a given waypoint file and extracts the home location and position
  • DEFAULT_HEAD_POSITION:
    A SimpleActionState that returns the head/camera to the default position
  • MOVE:
    A SimpleActionState that moves the robot base to the given nav goal (home position)

Software source and object files are licensed under the Apache License, Version 2.0. See the License for the specific language governing permissions and limitations under the License.