def __init__(self, name, agent_name, perception_provider, **kwargs):
"""
:param name: name of the behaviour
:param agent_name: name of the agent for determining the correct topic prefix
:param perception_provider: the current perception
:type perception_provider: PerceptionProvider
:param kwargs: more optional parameter that are passed to the base class
"""
super(MoveToDispenser, self).__init__(name=name,
requires_execution_steps=True,
planner_prefix=agent_name,
**kwargs)
self._agent_name = agent_name
self.perception_provider = perception_provider
self._pub_generic_action = rospy.Publisher(
get_bridge_topic_prefix(agent_name) + 'generic_action',
GenericAction,
queue_size=10)
self.path = []
self.goal_location = self.perception_provider.goal_origin #Global origin
self.reached_loc = False
self.target_cell = self.perception_provider.target_dispenser_cell #Target dispenser in transformed coordinates
def __init__(self):
rospy.logdebug("RhbpAgent::init")
rospy.init_node('agent_node', anonymous=True, log_level=rospy.INFO)
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)
self.behaviours = []
self.goals = []
self.perception_provider = PerceptionProvider()
self._sim_started = False
#if manual player is called, do not call other behaviours
self.manual_player = 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)
self._received_action_response = False
def __init__(self, name, agent_name, perception_provider, **kwargs):
"""
:param name: name of the behaviour
:param agent_name: name of the agent for determining the correct topic prefix
:param perception_provider: the current perception
:type perception_provider: PerceptionProvider
:param kwargs: more optional parameter that are passed to the base class
"""
super(MoveToGoal, self).__init__(name=name,
requires_execution_steps=True,
planner_prefix=agent_name,
**kwargs)
self._agent_name = agent_name
self.perception_provider = perception_provider
self._pub_generic_action = rospy.Publisher(
get_bridge_topic_prefix(agent_name) + 'generic_action',
GenericAction,
queue_size=10)
self.path = []
self.goal_location = None #Global origin
self.submit_origin = self.perception_provider.submit_origin #Relativ location of submit cell
self.block_location = None #Location of block attached to agent
self.target_dispenser = None #Location of dispenser which was allocated to agent
self.angle = 0
self.reached_loc = False
self.target_agent = None
self.target_block = None
self.index = 0
return 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):
log_level = rospy.DEBUG if config.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', '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)
self.behaviours = []
self.goals = []
self.perception_provider = PerceptionProvider()
self.sensor_manager = SensorManager(agent=self)
self.map = Map(agent=self, agent_name=self._agent_name)
self.communication = Communication(agent_name=self._agent_name)
self.map_pub = self.communication.start_map_pub_sub(
callback=self._map_callback)
self.received_map_messages = []
self.tasks = TaskCollection()
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)
self._received_action_response = False
def __init__(self, name, agent_name, perception_provider, **kwargs):
super(AgentControl, self).__init__(name=name,
requires_execution_steps=True,
planner_prefix=agent_name,
**kwargs)
self._agent_name = agent_name
self._perception_provider = perception_provider
self._pub_generic_action = rospy.Publisher(
get_bridge_topic_prefix(agent_name) + 'generic_action',
GenericAction,
queue_size=10)
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)
def __init__(self, name, agent_name, agent_map, perception_provider, **kwargs):
"""
:param name: name of the behaviour
:param agent_name: name of the agent for determining the correct topic prefix
:param perception_provider: the current perception
:type perception_provider: PerceptionProvider
:param kwargs: more optional parameter that are passed to the base class
"""
super(MoveToBlock, self).__init__(name=name, requires_execution_steps=True, planner_prefix=agent_name, **kwargs)
self._agent_name = agent_name
self._map = agent_map
self._perception_provider = perception_provider
self._pub_generic_action = rospy.Publisher(get_bridge_topic_prefix(agent_name) + 'generic_action', GenericAction
, queue_size=10)
def __init__(self, name, agent_name, perception_provider, **kwargs):
"""
:param name: name of the behaviour
:param agent_name: name of the agent for determining the correct topic prefix
:param perception_provider: the current perception
:type perception_provider: PerceptionProvider
:param kwargs: more optional parameter that are passed to the base class
"""
super(Explore_astar, self).__init__(name=name,
requires_execution_steps=True,
planner_prefix=agent_name,
**kwargs)
self._agent_name = agent_name
self.perception_provider = perception_provider
self._pub_generic_action = rospy.Publisher(
get_bridge_topic_prefix(agent_name) + 'generic_action',
GenericAction,
queue_size=10)
self.goal_path = False
self.path = []
self.opp_direction_dict = {'n': 's', 's': 'n', 'e': 'w', 'w': 'e'}
self.history = []