Package: triorb_parallel_move_manager

• 協調搬送における各ロボット独立制御を管理する
• タスクの情報を受け取り、他のモジュールへキャストする
• ステートの管理および逐次実行を把握しPublishする

Request definition

{
    name : sample_job_001
    mode : pararell_move / pararell_into / 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)
        },
    ]
}

Publisher

Parallel moveのState

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

Parallel moveのResult

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

移動のリクエスト

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

潜り込みのリクエスト

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

離脱のリクエスト

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

Subscriber

Parallel moveのリクエスト

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

Parallel moveのリクエスト

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

移動のState

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

潜り込みのState

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

離脱のState

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

移動のResult

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

潜り込みのResult

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

離脱のResult

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