goal_manager
The Goal Manager allows the robot to select and prioritize goals. It maintains a priority list of goals to perform. This list is updated with insert or abort. The chosen goal is published in order for the Plan Elaboration module to compute a Shared Plan to satisfy it.
This module is, for now, really basic. An interesting extension would be to integrate data coming from an intention recognition module concerning humans activities. This will allow the robot to choose if it should proactively offer its help based on this data and the goal orders it received.
- goal_manager/new_goal: allows to add a new goal to execute (supervisor_msgs/String)
- goal_manager/cancel_goal: allows to cancel goal to execute or in execution (supervisor_msgs/String)
- goal_manager/end_goal: to use whenever the current goal is over (supervisor_msgs/String)
- /goal_manager/goalsList: current goal and list of the pending goals (supervisor_msgs/GoalsList)
- goals/names: list of goals known by the supervisor (string[])
- goals/"goal"_actors: actors of the goal "goal" (string[])
- goals/"goal"_objective: objectives of the goal "goal" in the form of a list of facts (string[])