def __init__(self):
###DEBUG MODE###
log_level = rospy.DEBUG if global_variables.DEBUG_MODE else rospy.INFO
################
rospy.logdebug("RhbpAgent::init")
rospy.init_node('agent_node', anonymous=True, log_level=log_level)
self._agent_name = rospy.get_param('~agent_name', 'agentA2') # default for debugging 'agentA1'
self._agent_topic_prefix = get_bridge_topic_prefix(agent_name=self._agent_name)
# ensure also max_parallel_behaviours during debugging
self._manager = Manager(prefix=self._agent_name, max_parallel_behaviours=1)
self.behaviours = []
self.goals = []
self.perception_provider = PerceptionProvider()
# start communication class
self._communication = Communication(self._agent_name)
# Task update topic
self._pub_subtask_update = self._communication.start_subtask_update(self._callback_subtask_update)
# auction structure
self.auction = Auction(self)
self.number_of_agents = 2 # number_of_agents needs to match amount of launched agents
self.map_communication = MapCommunication(self)
self._sim_started = False
# agent attributes
self.local_map = GridMap(agent_name=self._agent_name, agent_vision=5)
# instantiate the sensor manager passing a reference to this agent
self.sensor_manager = SensorManager(self)
# representation of tasks
self.tasks = {}
self.assigned_subtasks = [] # personal for the agent. the task at index 0 is the task the agent is currently executing
# subscribe to MAPC bridge core simulation topics
rospy.Subscriber(self._agent_topic_prefix + "request_action", RequestAction, self._action_request_callback)
rospy.Subscriber(self._agent_topic_prefix + "start", SimStart, self._sim_start_callback)
rospy.Subscriber(self._agent_topic_prefix + "end", SimEnd, self._sim_end_callback)
rospy.Subscriber(self._agent_topic_prefix + "bye", Bye, self._bye_callback)
rospy.Subscriber(self._agent_topic_prefix + "generic_action", GenericAction, self._callback_generic_action)
self._received_action_response = False
def __init__(self):
rospy.logdebug("RhbpAgent::init")
rospy.init_node('agent_node', anonymous=True, log_level=rospy.DEBUG)
self._agent_name = rospy.get_param('~agent_name', 'agentA1') # default for debugging 'agentA1'
self._agent_topic_prefix = get_bridge_topic_prefix(agent_name=self._agent_name)
# ensure also max_parallel_behaviours during debugging
self._manager = Manager(prefix=self._agent_name, max_parallel_behaviours=1)
# static things (terrain)
self.behaviours = []
self.goals = []
self.perception_provider = PerceptionProvider()
self.local_map = GridMap(agent_name=self._agent_name, live_plotting=True)
# auction structure
self.bids = {}
self.number_of_agents = 2 # TODO: check if there's a way to get it automatically
self._sim_started = False
# subscribe to MAPC bridge core simulation topics
rospy.Subscriber(self._agent_topic_prefix + "request_action", RequestAction, self._action_request_callback)
rospy.Subscriber(self._agent_topic_prefix + "start", SimStart, self._sim_start_callback)
rospy.Subscriber(self._agent_topic_prefix + "end", SimEnd, self._sim_end_callback)
rospy.Subscriber(self._agent_topic_prefix + "bye", Bye, self._bye_callback)
rospy.Subscriber(self._agent_topic_prefix + "generic_action", GenericAction, self._callback_generic_action)
# start communication class
self._communication = Communication(self._agent_name)
# Map topic
self._pub_map = self._communication.start_map(self._callback_map)
# Personal message topic
self._pub_agents = self._communication.start_agents(self._callback_agents)
# Auction topic
self._pub_auction = self._communication.start_auction(self._callback_auction)
self.time_to_bid = True # only test debug puposes
self.task_subdivision = {"task1":
{"agents_needed": 3,
"agents_assigned": []
}
}
self._received_action_response = False
def __init__(self, name, agent_name, rhbp_agent, **kwargs):
"""
:param name: name of the behaviour
:param agent_name: name of the agent for determining the correct topic prefix
:param rhbp_agent(RhbpAgent): the agent owner of the behaviour
:param kwargs: more optional parameter that are passed to the base class
"""
super(ExplorationBehaviour, self).__init__(name=name, requires_execution_steps=True, planner_prefix=agent_name,
**kwargs)
self._agent_name = agent_name
self._pub_generic_action = rospy.Publisher(get_bridge_topic_prefix(agent_name) + 'generic_action', GenericAction
, queue_size=10)
self.rhbp_agent = rhbp_agent
self.exploration_path_id = None
def __init__(self, name, agent_name, **kwargs):
"""
:param name: name of the behaviour
:param agent_name: name of the agent for determining the correct topic prefix
:param kwargs: more optional parameter that are passed to the base class
"""
super(RandomMove, self).__init__(name=name,
requires_execution_steps=True,
planner_prefix=agent_name,
**kwargs)
self._agent_name = agent_name
self._pub_generic_action = rospy.Publisher(
get_bridge_topic_prefix(agent_name) + 'generic_action',
GenericAction,
queue_size=10)
def __init__(self, name, perception_provider, agent_name, **kwargs):
"""
:param name: name of the behaviour
:param agent_name: name of the agent for determining the correct topic prefix
:param kwargs: more optional parameter that are passed to the base class
"""
super(ManualMove, self).__init__(name=name, requires_execution_steps=True, planner_prefix=agent_name, **kwargs)
self._perception_provider = perception_provider
self._agent_name = agent_name
self._pub_generic_action = rospy.Publisher(get_bridge_topic_prefix(agent_name) + 'generic_action', GenericAction
, queue_size=10)
# rospy.Subscriber("/directions", String, callback_direzioni)
rospy.Subscriber("/key_player_" + self._agent_name, String, callback_direzioni)
def __init__(self, name, agent_name, rhbp_agent, **kwargs):
"""Move to Dispenser
Args:
name (str): name of the behaviour
agent_name (str): name of the agent for determining the correct topic prefix
rhbp_agent (RhbpAgent): the agent owner of the behaviour
**kwargs: more optional parameter that are passed to the base class
"""
super(ReachMeetingPointBehaviour, self).__init__(name=name, requires_execution_steps=True,
planner_prefix=agent_name,
**kwargs)
self._agent_name = agent_name
self._pub_generic_action = rospy.Publisher(get_bridge_topic_prefix(agent_name) + 'generic_action', GenericAction
, queue_size=10)
self.rhbp_agent = rhbp_agent
def __init__(self, name, agent_name, action_type, params=[], **kwargs):
"""
:param name: name of the behaviour
:param agent_name: name of the agent for determining the correct topic prefix
:param action_type: type of the MAPC action
:param params: optional static parameters for the MAPC action
:param kwargs: more optional parameter that are passed to the base class
"""
super(GenericActionBehaviour, self) \
.__init__(name=name, requires_execution_steps=True, planner_prefix=agent_name, **kwargs)
self._agent_name = agent_name
self._action_type = action_type
self._params = params
self._pub_generic_action = rospy.Publisher(
get_bridge_topic_prefix(agent_name) + 'generic_action',
GenericAction,
queue_size=10)