Design messages to be passed between task planning and the rest of the robot and implement interface

[rizzyrr]

inputs:

• position of board relative to camera
• positions of pieces, identity relative to camera

outputs (ros actions):

• one action
  • moving arm to position
  • grip position

message files

[ashraf629]

Current (tentative) overview of state machine interactions with the rest of the robot. To see an up-to-date version, go to src/task_planning/resource/task_planning on branch #11

[WebCoder49]

.msg schemas here could be useful: https://github.com/ros2/common_interfaces/tree/jazzy/geometry_msgs/msg

[WebCoder49]

Current thoughts:

States

The processes outlined below only occur when the State topic matches, set by the state machine and changed when the Transition-causing process ends.

Waiting

Pub/Sub: Camera (TODO) > CV Board > Board Corners (BoardCorners)
Pub/Sub: Camera (TODO) > CV Pieces > Piece Poses (PiecePoses)
Pub/Sub: Piece Poses (PiecePoses); Board Corners (BoardCorners) > Piece Squares Calculator > Piece Squares (PieceSquares)
Transition-causing Loop: (Server) State Machine . Piece Squares (PieceSquares) > Piece Squares Changed Checker > Piece Squares Changed (PieceSquares)

Thinking

Pub/Sub: Camera (TODO) > CV Board > Board Corners (BoardCorners)
Pub/Sub: Camera (TODO) > CV Pieces > Piece Poses (PiecePoses)
Pub/Sub: Piece Poses (PiecePoses); Board Corners (BoardCorners) > Piece Squares Calculator > Piece Squares (PieceSquares)
Transition-causing Action: (Server) State Machine . Piece Squares (PieceSquares) > (Server) Chess Engine > Piece to Move (PieceName), Square to Move To (Square)

Moving

Pub/Sub: Camera (TODO) > CV Board > Board Corners (BoardCorners)
Pub/Sub: Camera (TODO) > CV Pieces > Piece Poses (PiecePoses)
Pub/Sub: Piece to Move (PieceName); Board Corners (BoardCorners); Piece Squares (PieceSquares) > Two to Three Dimensions > Position to Move Arm To (Pose)
Transition-causing Action: (Server) State Machine . Position to Take piece from (Pose), Position to Move piece to (Pose) > (Server) Arm > Done (Void) (Can probably live-update location)

Topics

State (State)
Camera ("/image_raw/compressed") (TODO)
Board Corners (BoardCorners)
Piece Poses (PiecePoses)
Piece Squares (PieceSquares)
Piece to Move (PieceName)
Position to Move Arm To (Pose)

Nodes

CV Board
CV Pieces
Piece Squares Calculator
Chess Engine
Two To Three Dimensions
Arm
State Machine