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
Additional Links
Maintainers
- Teo Koon Peng
Authors
nexus_workcell_orchestrator
The workcell orchestrator:
-
discover it’s capabilitieswip - report it’s ability to perform a task
- performs a task request
- register itself to the system orchestrator
- monitor the state of controllers
- 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 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
Package Dependencies
System Dependencies
Name |
---|
yaml-cpp |
Dependant Packages
Name | Deps |
---|---|
nexus_demos |