robot_brain2 module

This script defines a class ActionClientcortex that implements a SimpleActionClient to send and cancel goals to a specified service. It also defines a class sensory1 that acquires locations from a database using ArmorClient, determines the robot’s current location, and chooses a target location based on the robot’s position, reachable locations, and urgency.

In the working scenario, the robot uses sensory1 to determine its current location and choose a target location. Then, the ActionClientcortex is used to send a control action to move the robot to the target location. The robot moves to the target location, and the process repeats until a stopping condition is met.

class robot_brain2.ActionClientcortex(service_name: str, action_type, done_callback=None, feedback_callback=None, mutex=None)

Bases: object

A simple wrapper for ROS action client to send and receive goals.

Parameters:

• service_name (str) – The name of the action service to connect to.

• action_type (Any) – The type of the action message.

• done_callback (Optional[Callable[[int, Any]], None]]) – The callback function to be called when the action is done. It takes two arguments: the status code (int) and the result (Any). Defaults to None.

• feedback_callback (Optional[Callable[[Any], None]]) – The callback function to be called when there is feedback from the action. It takes one argument: the feedback message (Any). Defaults to None.

• mutex (Optional[Lock]) – The mutex to lock when accessing class variables. Defaults to None.

_is_running

A boolean value indicating whether the action is currently running.

Type:

bool

_is_done

A boolean value indicating whether the action is done.

Type:

bool

_results

The results of the action.

Type:

Any

_service_name

The name of the action service to connect to.

Type:

str

_mutex

The mutex to lock when accessing class variables.

Type:

Lock

_client

The SimpleActionClient object used to communicate with the action service.

Type:

SimpleActionClient

_external_done_cb

The external done callback function.

Type:

Optional[Callable[[int, Any], None]]

_external_feedback_cb

The external feedback callback function.

Type:

Optional[Callable[[Any], None]]

cancel_goals() → None

Cancels all goals sent to the action service.

done_callback_(status, results) → None

The internal done callback function.

Parameters:

• status (int) – The status code of the action.

• results (Any) – The result message received from the action service.

feedback_callback_(feedback) → None

The internal feedback callback function.

Parameters:

feedback (Any) – The feedback message received from the action service.

get_results()

Returns the results of the action if it has completed, otherwise logs an error message.

Returns:

The results of the action if it has completed.

is_done() → bool

Returns a boolean value indicating whether the action is done.

Returns:

True if the action is done, False otherwise.

Return type:

bool

is_running() → bool

Returns a boolean value indicating whether the action is currently running.

Returns:

A boolean value indicating whether the action is currently running.

reset_client_states() → None

Resets the client states.

send_goal(goal) → None

Sends a goal to the action service.

Parameters:

goal (Any) – The goal message to send.

class robot_brain2.sensory1

Bases: object

choose_target()

Chooses a target location for the robot to move to based on its current position and reachable locations.

Returns:

A tuple containing the robot’s current position and its target destination.

Return type:

tuple

get_coordinate(location)

Gets the coordinate of a given location.

Parameters:

location (str) – The location whose coordinate to retrieve.

Returns:

A tuple containing the x and y coordinates of the specified location.

Return type:

tuple

go_to_recharge(robot_location)

Moves the robot to the charging room for recharge.

Uses the client.manipulation.replace_objectprop_b2_ind method to update the isIn property of the robot to the charging room, and then synchronizes the changes with the buffered reasoner.

Parameters:

robot_location – The current location of the robot.

Returns:

None

list_formatter(old_location, start, end)

Formats a list of locations by extracting the substring between the start and end characters.

Parameters:

• old_location (list) – A list of strings to be formatted.

• start (str) – The starting character of the substring to be extracted.

• end (str) – The ending character of the substring to be extracted.

Returns:

A list of formatted strings.

Return type:

list

location_acquire(location)

Acquires information about the robot’s current location, reachable locations, corridors, or urgent rooms.

Parameters:

location (str) – A string indicating the type of location information to acquire.

Returns:

A list of locations meeting the specified criteria.

Return type:

list

move_location(target, current_position)

Moves the robot to a new location.

Publishes the target and current position to their respective topics, updates the robot’s location

in the knowledge base, and synchronizes the changes with the buffered reasoner.

Parameters:

• target – The target location for the robot.

• current_position – The current position of the robot.

Returns:

None

class robot_brain2.sensory2

Bases: object

A class for managing sensor data and robot state.

battery_callback_(msg: Bool) → None

Callback function for the anm.TOPIC_BATTERY_LOW topic.

Updates the _battery_low attribute with the received message data.

Parameters:

msg – A ROS Bool message containing the battery status.

Returns:

None

init_robot_pose(point) → None

Initializes the robot’s position using a ROS service call.

Parameters:

point – A geometry_msgs.Point message containing the initial robot position.

Returns:

None

is_battery_low() → bool

Returns the current battery status.

Returns:

A boolean indicating whether the battery is low or not.

reset_states() → None

Resets the class attributes to their initial state.

Returns:

None