robot_decision
The Robot Decision module allows the robot to decide which action to execute and which information to give. Its decisions are based on the lists of current, planned and to execute actions as well as on the humans mental states.
- robot_decision/stop: to use whenever the current action needs to be stopped (std_srvs/Trigger)
- /supervisor/actions_todo: actions to be performed by all agents according to the current plan (supervisor_msgs/ActionsList)
- /mental_states/mental_states: mental states of the other agents (supervisor_msgs/MentalStatesList)
- /goal_manager/goalsList: list of the current goals of the robot (supervisor_msgs/GoalsList)
- /area_manager/factList: list of facts coming from the area manager of TOASTER (toaster_msgs/FactsList)
- /plan_elaboration/plan: current plan of the robot (supervisor_msgs/SharedPlan)
- /mental_states/previous_actions: previous actions performed by all agents (supervisor_msgs/ActionsList)
- mode: choice of the mode to take decisions whenever an action is feasible by several agents (string: negotiation or adaptation)
- timeAdaptation: time to wait in sec in the adapatation mode (double)
- timeWaitHuman: time to wait in sec for a human action (double)
- areaInform: name of the TOASTER area where the robot can give information to the human (string)(string[])