def create_dock_mission(self, dock_name):
"""Create, POST, and populate MiR docking mission, then save it."""
mission_name = f'dock_to_{dock_name}'
mission = PostMissions(
# mir const, retrieved with GET /mission_groups
group_id='mirconst-guid-0000-0001-missiongroup',
name=mission_name,
description='automatically created by mir fleet handler',
)
response = self.mir_api.missions_post(mission)
action = PostMissionActions(action_type='docking',
mission_id=response.guid,
parameters=[
{
'id': 'marker',
'value': dock_name
},
],
priority=1)
self.mir_api.missions_mission_id_actions_post(mission_id=response.guid,
body=action)
self.node.get_logger().info(
f'created mission to move and dock to: "{dock_name}"')
# NOTE(CH3): Unsure if I should be doing this
self.missions[mission_name] = response.guid
return response.guid
def create_move_mission(self, robot, place_name, retries=10):
'''
creates a mission to move to metamap place
'''
mission = PostMissions(
# mir const, retrieved with GET /mission_groups
group_id='mirconst-guid-0000-0001-missiongroup',
name=f'move_to_{place_name}',
description='automatically created by mir fleet adapter',
)
response = robot.api.missions_post(mission)
dist_threshold = 0.1
action = PostMissionActions(action_type='move',
mission_id=response.guid,
parameters=[
{
'id':
'position',
'value':
robot.positions[place_name].guid
},
{
'id': 'retries',
'value': retries
},
{
'id': 'distance_threshold',
'value': dist_threshold
},
],
priority=1)
response2 = robot.api.missions_mission_id_actions_post(
mission_id=response.guid, body=action)
self.get_logger().info(f'created mission to move to "{place_name}"')
return response.guid
def create_move_coordinate_mission(self, mir_location, retries=10):
mission_name = ('move_coordinate_to'
f'_{mir_location.x:.3f}', f'_{mir_location.y:.3f}',
f'_{mir_location.yaw:.3f}')
mission = PostMissions(
group_id='mirconst-guid-0000-0001-missiongroup',
name=mission_name,
description='automatically created by mir fleet adapter',
)
response = self.mir_api.missions_post(mission)
action = PostMissionActions(action_type='move_to_position',
mission_id=response.guid,
parameters=[
{
'id': 'x',
'value': mir_location.x
},
{
'id': 'y',
'value': mir_location.y
},
{
'id': 'orientation',
'value': mir_location.yaw
},
{
'id': 'retries',
'value': retries
},
{
'id': 'distance_threshold',
'value': 0.1
},
],
priority=1)
self.mir_api.missions_mission_id_actions_post(mission_id=response.guid,
body=action)
self.node.get_logger().info(
f'{self.name}: '
f'Created mission to move coordinate to "{mir_location}"')
# NOTE(CH3): Unsure if I should be doing this
self.missions[mission_name] = response.guid
return response.guid
def create_dock_mission(self, robot, dock_name):
mission = PostMissions(
# mir const, retrieved with GET /mission_groups
group_id='mirconst-guid-0000-0001-missiongroup',
name=f'dock_to_{dock_name}',
description='automatically created by mir fleet adapter',
)
response = robot.api.missions_post(mission)
action = PostMissionActions(action_type='docking',
mission_id=response.guid,
parameters=[
{
'id': 'marker',
'value': dock_name
},
],
priority=1)
response2 = robot.api.missions_mission_id_actions_post(
mission_id=response.guid, body=action)
self.get_logger().info(f'created mission to move to "{dock_name}"')
return response.guid
def create_move_coordinate_mission(self, robot, location, retries=10):
mission = PostMissions(
group_id='mirconst-guid-0000-0001-missiongroup',
name=f'move_coordinate_to_{location.x:.3f}_{location.y:.3f}',
description='automatically created by mir fleet adapter',
)
response = robot.api.missions_post(mission)
action = PostMissionActions(action_type='move_to_position',
mission_id=response.guid,
parameters=[
{
'id': 'x',
'value': location.x
},
{
'id': 'y',
'value': location.y
},
{
'id': 'orientation',
'value': location.yaw
},
{
'id': 'retries',
'value': retries
},
{
'id': 'distance_threshold',
'value': 0.1
},
],
priority=1)
response2 = robot.api.missions_mission_id_actions_post(
mission_id=response.guid, body=action)
self.get_logger().info(
f'created mission to move coordinate to "{location}"')
return response.guid