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Package Summary

Tags No category tags.
Version 0.1.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/osrf/nexus.git
VCS Type git
VCS Version main
Last Updated 2025-02-21
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

NEXUS workcell orchestrator

Additional Links

No additional links.

Maintainers

  • Teo Koon Peng

Authors

No additional authors.

nexus_workcell_orchestrator

The workcell orchestrator:

  1. discover it’s capabilities wip
  2. report it’s ability to perform a task
  3. performs a task request
  4. register itself to the system orchestrator
  5. monitor the state of controllers
  6. request controllers to change states

Supported Capabilities

The capabilities supported by a workcell must be provided by the capabilities ROS parameter. The parameter must be an array of strings listing all the ids of the capabilities supported. Also depending on the capabilities provided, other parameters must also be provided.

Remapping Task Types

The task types received by a specific workcell can be remapped to a capability via remap_task_types ROS Parameter. This parameter is in the form of a YAML string, where the key is the capability to be mapped to and the value is an array specifying what task types to map from. One such example is provided:

{
    pick_and_place: [pick_and_place_productA, pick_and_place_productB],
}

In the example above, when the orchestrator receives a work order with steps containing either pick_and_place_productA or pick_and_place_productB, it will consider it to be the same as pick_and_place and will execute the same pick_and_place.xml behavior tree for either.

CHANGELOG

Changelog for package nexus_workcell_orchestrator

0.1.1 (2023-11-20)

0.1.0 (2023-11-06)

  • Provides the nexus_workcell_orchestrator node to orchestrate the execution of a work orders step within a workcell.
  • Provides out-of-the-box implementation of behavior trees nodes related to workcell orchestration.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged nexus_workcell_orchestrator at Robotics Stack Exchange

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