april_krem

Installation

ROS noetic and Python 3 are assumed to be available. vcs will be installed when needed.

./install-deps.sh
./build.sh

Launch

Replace uc? with one of the use case numbers, see Launch Parameters below.

roslaunch april_krem krem.launch use_case:=uc? temporal_actions:=false enable_monitor:=false goal:="" non_robot_actions_timeout:=20.0 robot_actions_timeout:=120.0

Launch Parameters

• use_case: specify the use case, possible values (uc1, uc2, uc3, uc5, uc5_2, uc5_3, uc5_4, uc4, uc6)
• enable_monitor: enables monitoring of pre- and postconditions of actions before and after executing them
• goal: empty string to run whole use case scenario
• non_robot_actions_timeout: timeout for actions that do not use the robotic arm e.g. perceive, conveyor actions, etc. Default is 20 seconds.
• robot_actions_timeout: timeout for actions that to use the robotic arm e.g. pick, place, etc. Default is 120 seconds.

Logging

Logs are created and put into a log file, published on a ros topic and put into the console output of KREM.

• Log file location: april_krem/logs/krem.log
• Rostopic: /krem/logs std_msgs/String

The following metrics are logged:

• Planning time in seconds
• Number of replans due to errors
• Number of human intervention actions
• Execution time of performed actions in seconds
• Execution time of each cycle in seconds
• Number of cycles done
• Overall execution time of all cycles in seconds