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Care-O-bot 4 Programming

Architecture overview

tbd image

API (topics, services, actions)

The following tables show the programming interfaces to the components within Care-O-bot 4. The components are sorted similar to the diagnostics GUI.

Actuators

Base

interface name

type

message

description

/base/twist_mux/command_navigation

subscriber

geometry_msgs/Twist

Velocity streaming interface for moving the base with smoothing active. Desired for navigation purposes.

/base/twist_mux/command_safe

subscriber

geometry_msgs/Twist

Velocity streaming interface for moving the base with collision checking and smoothing active. Desired for teleoperation purposes.

/base/twist_controller/command

subscriber

geometry_msgs/Twist

Low level velocity streaming interface for moving the base. Desired for control purposes.

Torso

interface name

type

message

description

/torso/joint_trajectory_controller/follow_joint_trajectory

action

control_msgs/FollowJointTrajectory

Trajectory interface to move the torso.

Arms

interface name

type

message

description

/arm_left/joint_trajectory_controller/follow_joint_trajectory

action

control_msgs/FollowJointTrajectory

Trajectory interface to move the left arm.

/arm_right/joint_trajectory_controller/follow_joint_trajectory

action

control_msgs/FollowJointTrajectory

Trajectory interface to move the right arm.

Grippers

interface name

type

message

description

/gripper_left/joint_trajectory_controller/follow_joint_trajectory

action

control_msgs/FollowJointTrajectory

Trajectory interface to move the left gripper.

/gripper_right/joint_trajectory_controller/follow_joint_trajectory

action

control_msgs/FollowJointTrajectory

Trajectory interface to move the right gripper.

Sensorring

interface name

type

message

description

/sensorring/joint_trajectory_controller/follow_joint_trajectory

action

control_msgs/FollowJointTrajectory

Trajectory interface to move the sensorring.

interface name

type

message

description

/head/joint_trajectory_controller/follow_joint_trajectory

action

control_msgs/FollowJointTrajectory

Trajectory interface to move the head.

Sensors

Laser scanners

interface name

type

message

description

/base_laser_front/scan

publisher

sensor_msgs/LaserScan

Laser scan data from base laser front.

/base_laser_left/scan

publisher

sensor_msgs/LaserScan

Laser scan data from base laser left.

/base_laser_right/scan

publisher

sensor_msgs/LaserScan

Laser scan data from base laser right.

Cameras

interface name

type

message

description

/torso_cam3d_left/rgb/image_raw

publisher

sensor_msgs/Image

Color image data from torso camera left.

/torso_cam3d_left/depth_registered/points

publisher

sensor_msgs/PointCloud2

RGBD data from torso camera left.

/torso_cam3d_right/rgb/image_raw

publisher

sensor_msgs/Image

Color image data from torso camera right.

/torso_cam3d_right/depth_registered/points

publisher

sensor_msgs/PointCloud2

RGBD data from torso camera right.

/torso_cam3d_down/rgb/image_raw

publisher

sensor_msgs/Image

Color image data from torso camera down.

/torso_cam3d_down/depth_registered/points

publisher

sensor_msgs/PointCloud2

RGBD data from torso camera down.

/sensorring_cam3d_front/depth/points

publisher

sensor_msgs/PointCloud2

Depth data from sensorring camera front.

/sensorring_cam3d_back/rgb/image_raw

publisher

sensor_msgs/Image

Color image data from sensorring camera back.

/sensorring_cam3d_back/depth_registered/points

publisher

sensor_msgs/PointCloud2

RGBD data from sensoring camera back.

/head_cam3d/rgb/image_raw

publisher

sensor_msgs/Image

Color image data from head camera.

Safety

interface name

type

message

description

/emergency_stop_state

publisher

cob_msgs/EmergencyStopState

The Emergency stop information includes laser and button stop.

IO

interface name

type

message

description

/joy

publisher

sensor_msgs/Joy

This topic publishes the input commands from a joystick.

/sound/say

action

cob_sound/Say

Action for text-to-speech output.

/light_base/set_light

action

cob_light/SetLightMode

Action to set base lights.

/light_torso/set_light

action

cob_light/SetLightMode

Action to set torso lights.

Other

interface name

type

message

description

/power_state

publisher

cob_msgs/PowerState

The power state publishes information about the battery status (e.g. remaining capacity).

Workspace setup

The setup on Care-O-bot is organized in a way that multiple people can develop on the robot without influencing each other. Please try to avoid 'group accounts', we promote that each user develops on its own account (even for demos, we reccomend to create separate accounts. This setup avoids that one user breaks the setup of another one.

On each robot there is a user called 'robot' which ensures to keep a running version of all bringup related packages. The robot account should not be used for development nor for demos, it is just designed to serve as an underlay for each users individual account.

Filesystem

The pcs within the robot share a common NFS file system which holds all home directories. This means that code modifications in the home directory are available on all pcs immediately. Building code is only necessary on one pc, there is no need to build code on all pcs. We recommend to use the base pc (cob4-X-b1) to login via ssh, checkout, modify and build code.

catkin workspaces

As mentioned above we recommend to use the robot account as an underlay to you user accounts. The user accounts on the robot are by default already setup to follow this rule. In the ROS_PACKAGE_PATH you should see the following order: "opt/ros/indigo : robot account : user account". There is no need for a normal developer to create overlays of the bringup packages.

remote bringup

In order to startup nodes on various robot pcs, we use the machine tags within the roslaunch syntax. This allows the user to start the launch file on any robot pc which will then automatically deploy the nodes on the assigned pcs.

This is already done for the bringup layer and we reccomend to create similar files for your additional nodes.

Collaboration and coding guidelines

We are using github as our main collaboration tool. Services on github include source code hosting, issue tracking and pull requests. We've compiled some best practices on how to use github with our repositories.

Please be aware of our coding guidelines when extending or modifying our code base.


2019-10-12 12:24