supervisor_msgs

SUPERVISOR_MSGS

This module contains the definition of all messages, services and actions used by the supervisor.

Action

ActionExecutor.action:

• Goal:
  • action: action to execute (supervisor_msgs/Action)
• Result:
  • report: success of the execution (bool)
  • shouldRetractRight: does the robot moves the right arm from the rest position (bool)
  • shouldRetractLeft: does the robot moves the left arm from the rest position (bool)
  • state: if failure, state of the failure (string: PREC, PLAN, EXEC or POST)
• Feedback:
  • state: state of the action execution (string: PREC, PLAN, EXEC or POST)

Services

HumanAction.srv: service used to simulate humans actions

• Request:
  • agent: name of the human which should execute the action (string)
  • action: action to execute (supervisor_msgs/Action)
• Result:

String.srv:

• Request:
  • data (string)
• Result:
  • success (bool)

EndPlan.srv: service used when the current plan is over

• Request: broken
  • success: true if the plan succeed (bool)
  • evaluate: true if we want to allocate a specific action to an agent (bool)
  • forgiveAction: true if we want to forgive a specific action to an agent (bool)
  • objectLocked: object to lock/allocate to an agent (string)
  • agentLocked: agent used to lock/allocate (string)
• Result:

Ask.srv: service used to ask something through dialogue

• Request:
  • type: type of the information to ask (string: ACTION or FACT)
  • subType: type of the question to ask (string: CAN or WANT when type= ACTION)
  • receiver: agent to ask the question (string)
  • waitForAnswer: true if we should wait for the answer (bool)
  • fact: fact to ask if type=FACT (toaster_msgs/Fact)
  • action: action to ask if type=ACTION (supervisor_msgs/Action)
• Result:
  • boolAnswer: answer to the question (bool)

GiveInfo.srv: service used to give or received an information through dialoque

• Request:
  • toRobot: true if the robot received the information, false if it gives the information (bool)
  • partner: agent to give the information or which gives the information (string)
  • type: type of the information (string: FACT, ACTION, PLAN or GOAL)
  • fact: fact information received/given (toaster_msgs/Fact)
  • isTrue: true if the fact information is true (bool)
  • action: action information received/given (supervisor_msgs/Action)
  • actionState: state of the action (string)
  • plan: plan information received/given (supervisor_msgs/SharedPlan)
  • planState: state of the plan (string)
  • goal: goal information received/given (string)
• Result:

Message

Action.msg: An action is defined as:

• name (string)
• id (int)
• parameters_keys (string[])
• parameter_values (string[])
• actors (string[])
• precs: preconditions of the action (toaster_msgs/Fact[])
• effects: effects of the action (toaster_msgs/Fact[])
• succeed: for previous actions, true if the action succeed (bool)
• headFocus: object/agent to look at each time of the action (string)
• shouldKeepFocus: true if the action strictly require the focus of the head (bool)

ActionsList.msg: An actions list is defined as:

• actions (supervisor_msgs/Action[])
• changed: indicate if the msg changed compared to the previous one (bool)
• prevId: id of the last action taken into account to compute this list (int)

Goal.msg: A goal is defined as:

• name (string)
• actors (string[])
• objective (toaster_msgs/Fact[])

GoalsList.msg: A list of goals is defined as:

• changed: indicate if the msg changed compared to the previous one (bool)
• currentGoal (string, NONE if no current goal)
• goals (string[])
• states (string[])

SharedPlan.msg: A shared plan is defined as:

• goal (string)
• id (int)
• actions (supervisor_msgs/Action[])
• links: (supervisor_msgs/Link[])

Link.msg: A link is defined as:

• origin: action to be executed first (int)
• following: action to be executed second (int)

Info.msg: An information is defined as:

• agent: which received/gave the information (string)
• toRobot: true if the robot received the information, false if it gave it (bool)
• type: type of the information (string: FACT, ACTION or GOAL)
• fact: information of fact type (toaster_msgs/Fact)
• isTrue: true if the fact information is true (bool)
• action: information of action type (supervisor_msgs/Action)
• goal: information of goal type (string)

MentalState.msg: The mental state of an agent is defined as:

• agentName (string)
• robotGoal: goal he thinks the robot is performing (string, NONE if no goal)
• agentGoal: goal he thinks he is performing (string, NONE if no goal)
• todoActions: actions he thinks they need to be done (supervisor_msgs/Action[])
• plannedActions: actions he thinks are planned (supervisor_msgs/Action[])
• previousActions: actions he thinks have been performed (supervisor_msgs/Action[])
• currentRobotAction: action he thinks the robot is performing (supervisor_msgs/Action)
• nextPrevId: id of the last action taken into account to compute the mental state (int)

MentalStatesList.msg:

• mentalStates (supervisor_msgs/MentalState[])
• changed: indicate if the msg changed compared to the previous one (bool)
• prevId: id of the last action taken into account to compute the list (int)
• infoGiven: true if an action has just been given to an agent (bool)