Utilities

helper scripts of the utilities folder.

Environment Helper

This helper module contains many static variables that are used and shared by all the nodes in the script section.

utilities.patrol_robot.environment.Map_C = {'-1.0,2.0': 'C2', '-2.0,1.0': 'R3', '-2.0,3.0': 'R4', '0.0,0.0': 'E', '1.0,2.0': 'C1', '2.0,1.0': 'R1', '2.0,3.0': 'R2'}

ROS parameters for the environment size and time interval for the random battery notifier function in the battery.py script.

utilities.patrol_robot.environment.RND_BATTERY_TIME = 'config/random_battery_time'

Declaration of ROS-Node names, ROS-Service names and ROS-Action names

Interface Helper

This Module implements specific methods necessary for many program funcionalities:

• ROS service-clients

• ROS action-clients

• ROS messages Callbacks

• Functions to return the FSM transition states

• Other generic functions used in more than one script

class utilities.patrol_robot.helper.InterfaceHelper

Class representing the Helper Object comprehensive of every necessary methods summarized above.

__init__(self)

Initialization of parameters:

mutex:Lock()

mutex to protected variable access

client:ros_action_client

Armor-Client to set-up the Ontology

planner_client:ros_action_client

the client of the motion/planner action

controller_client:ros_action_client

the client of the motion/controller action

sub_battery:ros_msg_subscriber

subscriber to the ros message regarding the battery state , topic: state/battery_low

reset_states(self)

Method that resets every FSM transition to False.

start_client(self)

Simple client of the Empty service /start to load and initialize the Ontology

reason_client(self)

Simple client of the custom service /reason to decide which room should be pointed, the target room is saved in a variable to be further used in the Planning request.

recharge_client(self)

Simple client of the empty service /recharge to start the robot’s battery charging.

_battery_cb(self, battery_value)

Callback of the ros message that describes the battery states on the topic state/battery_low, the value is simply stored in a variable to be checked from the FSM.

send_planner_goal(self, low)

motion/planner Action Client, it sends the target location to the server in order to generate the correct set of via points, it takes into account the state of the battery in the argument (low) to force the robot the the DOC location whenever the battery is low and the robot can reach this desired location.

send_controller_goal(self)

motion/controller Action Client, it sends the planner via points to the Controller Node in order to move the robot toward a target location.

is_battery_full(self)

Method to return weather the transition that ends the recharging state should be returned

is_battery_low(self)

Method to return weather the transition that start the recharging state should be returned

should_reasoning_start(self)

Method to return weather the transition that start the reasoning state should be returned

should_pointing_start(self)

Method to return weather the transition that start the pointing state should be returned

reason(self)

Method that uses the armor client to simplify the Ontology reasoning procedure

list_formatter(self, raw_list, start, end)

Method that well formats the strings return by the querys function of the pkg armor api