Package: triorb_sync_move_manager

• 協調搬送における各ロボット協調制御を管理する
• 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 : sync_lift / sync_move
    direction : up / down
    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

Sync moveのState

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

Sync moveのResult

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

Lifter startのリクエスト

• Topic: (prefix)/collab/lifter/start/request
• 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:

Subscriber

Sync moveのリクエスト

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

Sync moveの完了

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

リフターのState

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

協調移動のState

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

リフターのResult

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

協調移動のResult

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

triorb_sync_move_manager Types