launchs

Launchs

Overview

This modules contains all launch files and scripts useful to use the supervisor as well as some generic parameter files.

Launch files

• GTP.launch: allows to launch GTP and the corresponding move3d modules
• HATP.launch: allows to launch HATP
• Simu.launch: allows to launch the PR2 simulation
• Supervisor.launch: allows to launch the supervisor
• Toaster.launch: allows to launch TOASTER

Parameters

• Entities.yaml:
  • agents: list of all agents (string[])
  • objects: list of all manipulable objects (string[])
  • supports: list of all supports (string[])
  • containers: list of all containers (string[])
  • objectsHeight/top/"objectName": size of the object "objectName" between its center and its top (double)
  • objectsHeight/bottom/"objectName": size of the object "objectName" between its center and its bottom (double)
  • _highLevelName/"highLevelObjectName": possible refinements for the high level object "highLevelObjectName" (string[])
• General.yaml:
  • waitActionServer: time to wait for an action server (double)
  • simu: true if working in simulation (bool)
  • robot/name: name of the robot to work with (string)
  • robot/hand/right: name of the right hand joint of the robot (string)
  • robot/hand/left: name of the left hand joint of the robot (string)
  • robot/griperJoint/right: name of the right gripper joint of the robot (string)
  • robot/griperJoint/left: name of the left gripper joint of the robot (string)
  • AgentX: name used for the X agent (string)
  • Omni: name used for the X agent (string)
  • mainPartner: name of the main partner of the robot (string)
• HighLevelActions.yaml:
  • names: name of the possible actions to execute (string[])
  • action_param: high level parameters of the action action (string[])
  • action_actors: high level actors of the action action (string[])
  • action_prec: high level preconditions of the action action (string[])
  • action_effects: high level effects of the action action (string[])

Scripts

• blocks.sh: init script for the building blocks scenario
• init_set_up_blocks.sh: script for replace objects for the building blocks scenario
• scan.sh: init script for the scan scenario
• reset_scan.sh: init script for replace objects for the scan scenario