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One above all launches of NEURO household service robto

CMake 41.39% Tcl 17.43% Shell 41.19%

neuro_oaa's Introduction

Base (1):

Pub/Sub	ID	Topic	Type	Explanation
Sub	4000	/ctrl/vision/grasp/location	geometry_msgs/PoseStamped	Relative distance to graspable area
Sub	5000	/ctrl/voice/nav_location_goal	geometry_msgs/PoseStamped	Location goal in map for robot to arrive
Pub	1000	/feed/base/task_status	std_msgs/Int8	-1: out of time & aborted 1: success 0: else

Arm (2):

Pub/Sub	ID	Topic	Type	Explanation
Sub	4001	/ctrl/vision/grasp/pose	geometry_msgs/PoseStamped	Target pose in robot base_link frame
Sub	4002	/ctrl/vision/detect/table	geometry_msgs/PoseStamped	Table pose in map frame
Sub	5001	/ctrl/voice/arm/left	std_msgs/Int8	State value for controlling robot left arm. 1: reset 2: open left gripper 3: move forward 4: move backward 5: move left 6: move right
Pub	2000	/feed/arm/left/move/result	std_msgs/Int8	1: success 0: else
Pub	2001	/feed/arm/left/ik/plan/result	std_msgs/Int8	1: success -1: failed 0: else

Vision (4)

Pub/Sub	ID	Topic	Type	Explanation
Pub	4000	/ctrl/vision/grasp/location	geometry_msgs/PoseStamped	Relative distance to graspable area
Pub	4001	/ctrl/vision/grasp/pose	geometry_msgs/PoseStamped	Target pose in robot base_link frame
Pub	4002	/ctrl/vision/detect/table	geometry_msgs/PoseStamped	Table pose in map frame

Voice (5)

Pub/Sub	ID	Topic	Type	Explanation
Sub	1000	/feed/base/task_status	std_msgs/Int8	-1: out of time & aborted 1: success 0: else
Pub	5000	/ctrl/voice/nav_location_goal	geometry_msgs/PoseStamped	Location goal in map for robot to arrive
Pub	5001	/ctrl/voice/arm/left	std_msgs/Int8	State value for controlling robot left arm. 1: reset 2: open left gripper 3: move forward 4: move backward 5: move left 6: move right

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