Package: triorb_job_state_manager

• Jobおよびロボットの管理を行う
• Jobのcreate要求が来たタイミングでMutexの取得、Parallel move managerとの接続、Sync move managerとの接続を行う
• Jobのterminate要求/Compleatのタイミングで上記Mutexの解放と接続の切断を行う

Publisher

剛体グループ（Job）のState

• Topic: (prefix)/collab/group/state
• Type: std_msgs/msg/String
• Frequency: 1.0Hz
• Usage:

  root@orin-nx-4260:/ws# ros2 topic echo /collab/group/state --full-length
  data: '{"state": "in progress (1/3)", "managed_workers": ["A4298950"], "in_progress": "{\"mode\": \"pararell_move\", \"move\": [{\"robot\": \"A4298950\", \"route\": []}]}"}'
  

  剛体グループ（Job）のResult

• Topic: (prefix)/collab/group/result
• Type: std_msgs/msg/String
• Usage:

Parallel moveのリクエスト

• Topic: (prefix)/collab/parallel/request
• Type: std_msgs/msg/String
• Usage:

Parallel moveの終了リクエスト

• Topic: (prefix)/collab/parallel/terminate
• Type: std_msgs/msg/String
• Usage:

Sync moveのリクエスト

• Topic: (prefix)/collab/sync/request
• Type: std_msgs/msg/String
• Usage:

Subscriber

剛体グループ（Job）を終了削除する

• Topic: (prefix)/collab/group/terminate
• Type： triorb_static_interface/srv/SetString
• Usage：

  root@orin-nx-4260:/ws# ros2 topic pub -1 /collab/group/terminate triorb_static_interface/srv/SetString "{data:'sample_job_001'}"
  

Parallel moveのStaet

• Topic: (prefix)/collab/parallel/state
• Type: std_msgs/msg/String
• Usage:

  Parallel moveのResult

• Topic: (prefix)/collab/parallel/result
• Type: std_msgs/msg/String
• Usage:

Sync moveのStaet

• Topic: (prefix)/collab/sync/state
• Type: std_msgs/msg/String
• Usage:

  Sync moveのResult

• Topic: (prefix)/collab/sync/result
• Type: std_msgs/msg/String
• Usage:

Service

剛体グループ（Job）を新規作成する

• Topic: (prefix)/collab/group/create
• Type: triorb_static_interface/srv/SetString
• JSON description:

  {
    job_name : (jobの名前),
    task_name : (taskの名前),
    workers : 
    [
        (Robot1のHash),
        (Robot2のHash)
    ],
    map : 
    {
        name : (地図ファイル名),
        ip : (地図ファイルを持っているロボットのIPアドレス)
    },
    task_info : 
    [
        {
            mode : (動きの種別 ex. pararell_move),
            move : 
            [
                {
                    robot : (ロボット1のHash),
                    route : (ロボット1の移動経路情報)
                },
                {
                    robot : (ロボット2のHash),
                    route : (ロボット2の移動経路情報)
                }
            ]
        },
        {
            mode : (動きの種別 ex. pararell_into),
            move : 
            [
                {
                    robot : (ロボット1のHash),
                    route : (ロボット1の移動経路情報)
                },
                {
                    robot : (ロボット2のHash),
                    route : (ロボット2の移動経路情報)
                }
            ]
        },
        {
            mode : (動きの種別 ex. sync_lift),
            direction : (リフターUP/Down),
            workers : [
                (Robot1のHash),
                (Robot2のHash)
            ]
        },
        {
            mode : (動きの種別 ex. sync_move),
            route : (荷物の移動経路情報)
            workers : [
                (Robot1のHash),
                (Robot2のHash)
            ]
        },
        {
            mode : (動きの種別 ex. sync_lift),
            route : (リフターUP/Down)
            workers : [
                (Robot1のHash),
                (Robot2のHash)
            ]
        },
        {
            mode : (動きの種別 ex. pararell_outof),
            move : 
            [
                {
                    robot : (ロボット1のHash),
                    route : (ロボット1の移動経路情報)
                },
                {
                    robot : (ロボット2のHash),
                    route : (ロボット2の移動経路情報)
                }
            ]
        }
    ]
  }
  

• Usage: ```bash root@orin-nx-4260:/ws# ros2 service call /collab/group/create triorb_static_interface/srv/SetString
  “{request: {‘{
  “‘“job_name”’” : “‘“sample_job_001”’”,
  “‘“task_name”’” : “‘“sample_task”’”,
  “‘“workers”’” :
  [
  “‘“A4298950”’”
  ],
  “‘“map”’” :
  {
  “‘“name”’” : “‘“sample_map.sqlite3”’”,
  “‘“ip”’” : “‘“192.168.21.26”’”
  },
  “‘“task_info”’” :
  [
  {
  “‘“mode”’” : “‘“pararell_move”’”,
  “‘“move”’” :
  [
  {
  “‘“robot”’” : “‘“A4298950”’”,
  “‘“route”’” : []
  }
  ]
  },
  {
  “‘“mode”’” : “‘“pararell_into”’”,
  “‘“move”’” :
  [
  {
  “‘“robot”’” : “‘“A4298950”’”,
  “‘“route”’” : []
  }
  ]
  },
  {
  “‘“mode”’” : “‘“sync_lift”’”,
  “‘“direction”’” : “‘“up”’”
  }
  ]
  }’}}”

requester: making request: triorb_static_interface.srv.SetString_Request(request=[’{ “job_name” : “sample_job_001”, “task_name” : “sample_task”, “workers” : [ “A4298950” ], “map” : { “name” : “sample_map.sqlite3”, “ip” : “192.168.21.26” }, “task_info” : [ { “mode” : “pararell_move”, “move” : [ { “robot” : “A4298950”, “route” : [] } ] }, { “mode” : “pararell_into”, “move” : [ { “robot” : “A4298950”, “route” : [] } ] }, { “mode” : “sync_lift”, “direction” : “up” } ]}’])

response: triorb_static_interface.srv.SetString_Response(result=’success’) ```

パラメーター

• PUBLISH_STATE_FREQ_MS : SteteをPublishする時間間隔[ms]
• STATE_MANAGEMENT_FREQ_MS : Stateを管理する時間間隔[ms]
• NO_STATUS_TIMEOUT : ステータスが返ってこない場合にタイムアウト判断する時間 [ms]